From 5c7ffdde0b9642a42e8f5987e06eb01220ff7776 Mon Sep 17 00:00:00 2001
From: Adam Frisby
Date: Wed, 11 Jul 2007 08:02:47 +0000
Subject: * Wiping trunk in prep for Sugilite
---
OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs | 457 -------------------------
1 file changed, 457 deletions(-)
delete mode 100644 OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs
(limited to 'OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs')
diff --git a/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs b/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs
deleted file mode 100644
index 6758f76..0000000
--- a/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs
+++ /dev/null
@@ -1,457 +0,0 @@
-/*
-* Copyright (c) Contributors, http://www.openmetaverse.org/
-* See CONTRIBUTORS.TXT for a full list of copyright holders.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-* * Redistributions of source code must retain the above copyright
-* notice, this list of conditions and the following disclaimer.
-* * Redistributions in binary form must reproduce the above copyright
-* notice, this list of conditions and the following disclaimer in the
-* documentation and/or other materials provided with the distribution.
-* * Neither the name of the OpenSim Project nor the
-* names of its contributors may be used to endorse or promote products
-* derived from this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
-* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
-* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*
-*/
-using System;
-using System.Collections.Generic;
-using OpenSim.Physics.Manager;
-using Ode.NET;
-
-namespace OpenSim.Physics.OdePlugin
-{
- ///
- /// ODE plugin
- ///
- public class OdePlugin : IPhysicsPlugin
- {
- private OdeScene _mScene;
-
- public OdePlugin()
- {
-
- }
-
- public bool Init()
- {
- return true;
- }
-
- public PhysicsScene GetScene()
- {
- if (_mScene == null)
- {
- _mScene = new OdeScene();
- }
- return (_mScene);
- }
-
- public string GetName()
- {
- return ("OpenDynamicsEngine");
- }
-
- public void Dispose()
- {
-
- }
- }
-
- public class OdeScene : PhysicsScene
- {
- static public IntPtr world;
- static public IntPtr space;
- static private IntPtr contactgroup;
- static private IntPtr LandGeom;
- //static private IntPtr Land;
- private double[] _heightmap;
- static private d.NearCallback nearCallback = near;
- private List _characters = new List();
- private static d.ContactGeom[] contacts = new d.ContactGeom[30];
- private static d.Contact contact;
-
- public OdeScene()
- {
- contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
- contact.surface.mu = 10.0f;
- contact.surface.bounce = 0.9f;
- contact.surface.soft_erp = 0.005f;
- contact.surface.soft_cfm = 0.00003f;
-
- world = d.WorldCreate();
- space = d.HashSpaceCreate(IntPtr.Zero);
- contactgroup = d.JointGroupCreate(0);
- d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
- d.WorldSetAutoDisableFlag(world, false);
- d.WorldSetContactSurfaceLayer(world, 0.001f);
- this._heightmap = new double[65536];
- }
-
- // This function blatantly ripped off from BoxStack.cs
- static private void near(IntPtr space, IntPtr g1, IntPtr g2)
- {
- IntPtr b1 = d.GeomGetBody(g1);
- IntPtr b2 = d.GeomGetBody(g2);
- if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
- return;
-
- int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
- for (int i = 0; i < count; ++i)
- {
- contact.geom = contacts[i];
- IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
- d.JointAttach(joint, b1, b2);
- }
-
- }
-
- public override PhysicsActor AddAvatar(PhysicsVector position)
- {
- PhysicsVector pos = new PhysicsVector();
- pos.X = position.X;
- pos.Y = position.Y;
- pos.Z = position.Z + 20;
- OdeCharacter newAv = new OdeCharacter(this, pos);
- this._characters.Add(newAv);
- return newAv;
- }
-
- public override void RemoveAvatar(PhysicsActor actor)
- {
-
- }
-
- public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
- {
- PhysicsVector pos = new PhysicsVector();
- pos.X = position.X;
- pos.Y = position.Y;
- pos.Z = position.Z;
- PhysicsVector siz = new PhysicsVector();
- siz.X = size.X;
- siz.Y = size.Y;
- siz.Z = size.Z;
- return new OdePrim();
- }
-
- public override void Simulate(float timeStep)
- {
- foreach (OdeCharacter actor in _characters)
- {
- actor.Move(timeStep);
- }
- d.SpaceCollide(space, IntPtr.Zero, nearCallback);
- for (int i = 0; i < 50; i++)
- {
- d.WorldQuickStep(world, timeStep * 0.02f);
- }
-
- d.JointGroupEmpty(contactgroup);
- foreach (OdeCharacter actor in _characters)
- {
- actor.UpdatePosition();
- }
- }
-
- public override void GetResults()
- {
-
- }
-
- public override bool IsThreaded
- {
- get
- {
- return (false); // for now we won't be multithreaded
- }
- }
-
- public override void SetTerrain(float[] heightMap)
- {
- for (int i = 0; i < 65536; i++)
- {
- // this._heightmap[i] = (double)heightMap[i];
- // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
- int x = i & 0xff;
- int y = i >> 8;
- this._heightmap[i] = (double)heightMap[x * 256 + y];
- }
- IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
- d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
- d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
- LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
- d.Matrix3 R = new d.Matrix3();
-
- Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
- Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
- //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
-
- q1 = q1 * q2;
- //q1 = q1 * q3;
- Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();
- float angle = 0;
- q1.ToAngleAxis(ref angle, ref v3);
-
- d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
- d.GeomSetRotation(LandGeom, ref R);
- d.GeomSetPosition(LandGeom, 128, 128, 0);
- }
-
- public override void DeleteTerrain()
- {
-
- }
- }
-
- public class OdeCharacter : PhysicsActor
- {
- private PhysicsVector _position;
- private PhysicsVector _velocity;
- private PhysicsVector _acceleration;
- private bool flying = false;
- //private float gravityAccel;
- private IntPtr BoundingCapsule;
- IntPtr capsule_geom;
- d.Mass capsule_mass;
-
- public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
- {
- _velocity = new PhysicsVector();
- _position = pos;
- _acceleration = new PhysicsVector();
- d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f);
- capsule_geom = d.CreateSphere(OdeScene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble
- this.BoundingCapsule = d.BodyCreate(OdeScene.world);
- d.BodySetMass(BoundingCapsule, ref capsule_mass);
- d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
- d.GeomSetBody(capsule_geom, BoundingCapsule);
- }
-
- public override bool Flying
- {
- get
- {
- return flying;
- }
- set
- {
- flying = value;
- }
- }
-
- public override PhysicsVector Position
- {
- get
- {
- return _position;
- }
- set
- {
- _position = value;
- }
- }
-
- public override PhysicsVector Velocity
- {
- get
- {
- return _velocity;
- }
- set
- {
- _velocity = value;
- }
- }
-
- public override bool Kinematic
- {
- get
- {
- return false;
- }
- set
- {
-
- }
- }
-
- public override Axiom.MathLib.Quaternion Orientation
- {
- get
- {
- return Axiom.MathLib.Quaternion.Identity;
- }
- set
- {
-
- }
- }
-
- public override PhysicsVector Acceleration
- {
- get
- {
- return _acceleration;
- }
-
- }
- public void SetAcceleration(PhysicsVector accel)
- {
- this._acceleration = accel;
- }
-
- public override void AddForce(PhysicsVector force)
- {
-
- }
-
- public override void SetMomentum(PhysicsVector momentum)
- {
-
- }
-
- public void Move(float timeStep)
- {
- PhysicsVector vec = new PhysicsVector();
- d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule);
- vec.X = (vel.X - this._velocity.X) * -75000.0f;
- vec.Y = (vel.Y - this._velocity.Y) * -75000.0f;
- if (flying)
- {
- vec.Z = (vel.Z - this._velocity.Z) * -75000.0f;
- }
- d.BodyAddForce(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
- }
-
- public void UpdatePosition()
- {
- d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
- this._position.X = vec.X;
- this._position.Y = vec.Y;
- this._position.Z = vec.Z;
- }
- }
-
- public class OdePrim : PhysicsActor
- {
- private PhysicsVector _position;
- private PhysicsVector _velocity;
- private PhysicsVector _acceleration;
-
- public OdePrim()
- {
- _velocity = new PhysicsVector();
- _position = new PhysicsVector();
- _acceleration = new PhysicsVector();
- }
- public override bool Flying
- {
- get
- {
- return false; //no flying prims for you
- }
- set
- {
-
- }
- }
- public override PhysicsVector Position
- {
- get
- {
- PhysicsVector pos = new PhysicsVector();
- // PhysicsVector vec = this._prim.Position;
- //pos.X = vec.X;
- //pos.Y = vec.Y;
- //pos.Z = vec.Z;
- return pos;
-
- }
- set
- {
- /*PhysicsVector vec = value;
- PhysicsVector pos = new PhysicsVector();
- pos.X = vec.X;
- pos.Y = vec.Y;
- pos.Z = vec.Z;
- this._prim.Position = pos;*/
- }
- }
-
- public override PhysicsVector Velocity
- {
- get
- {
- return _velocity;
- }
- set
- {
- _velocity = value;
- }
- }
-
- public override bool Kinematic
- {
- get
- {
- return false;
- //return this._prim.Kinematic;
- }
- set
- {
- //this._prim.Kinematic = value;
- }
- }
-
- public override Axiom.MathLib.Quaternion Orientation
- {
- get
- {
- Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
- return res;
- }
- set
- {
-
- }
- }
-
- public override PhysicsVector Acceleration
- {
- get
- {
- return _acceleration;
- }
-
- }
- public void SetAcceleration(PhysicsVector accel)
- {
- this._acceleration = accel;
- }
-
- public override void AddForce(PhysicsVector force)
- {
-
- }
-
- public override void SetMomentum(PhysicsVector momentum)
- {
-
- }
-
-
- }
-
-}
--
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