From 3436961bb5c01d659d09be134368f4f69460cef9 Mon Sep 17 00:00:00 2001 From: MW Date: Sat, 26 May 2007 13:40:19 +0000 Subject: Start of rewrite 5279! --- .../BasicPhysicsPlugin/AssemblyInfo.cs | 31 ++ .../BasicPhysicsPlugin/BasicPhysicsPlugin.cs | 297 ++++++++++++++ .../OpenSim.Physics.BasicPhysicsPlugin.csproj | 93 +++++ .../OpenSim.Physics.BasicPhysicsPlugin.csproj.user | 12 + .../OpenSim.Physics.BasicPhysicsPlugin.dll.build | 42 ++ OpenSim/OpenSim.Physics/Manager/AssemblyInfo.cs | 31 ++ .../Manager/OpenSim.Physics.Manager.csproj | 112 +++++ .../Manager/OpenSim.Physics.Manager.csproj.user | 12 + .../Manager/OpenSim.Physics.Manager.dll.build | 47 +++ OpenSim/OpenSim.Physics/Manager/PhysicsActor.cs | 161 ++++++++ OpenSim/OpenSim.Physics/Manager/PhysicsManager.cs | 116 ++++++ OpenSim/OpenSim.Physics/Manager/PhysicsScene.cs | 113 ++++++ OpenSim/OpenSim.Physics/Manager/PhysicsVector.cs | 54 +++ OpenSim/OpenSim.Physics/OdePlugin/AssemblyInfo.cs | 31 ++ OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs | 452 +++++++++++++++++++++ .../OdePlugin/OpenSim.Physics.OdePlugin.csproj | 97 +++++ .../OpenSim.Physics.OdePlugin.csproj.user | 12 + .../OdePlugin/OpenSim.Physics.OdePlugin.dll.build | 43 ++ .../OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs | 31 ++ .../PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj | 97 +++++ .../OpenSim.Physics.PhysXPlugin.csproj.user | 12 + .../OpenSim.Physics.PhysXPlugin.dll.build | 43 ++ OpenSim/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs | 449 ++++++++++++++++++++ 23 files changed, 2388 insertions(+) create mode 100644 OpenSim/OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs create mode 100644 OpenSim/OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs create mode 100644 OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj create mode 100644 OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user create mode 100644 OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build create mode 100644 OpenSim/OpenSim.Physics/Manager/AssemblyInfo.cs create mode 100644 OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj create mode 100644 OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj.user create mode 100644 OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build create mode 100644 OpenSim/OpenSim.Physics/Manager/PhysicsActor.cs create mode 100644 OpenSim/OpenSim.Physics/Manager/PhysicsManager.cs create mode 100644 OpenSim/OpenSim.Physics/Manager/PhysicsScene.cs create mode 100644 OpenSim/OpenSim.Physics/Manager/PhysicsVector.cs create mode 100644 OpenSim/OpenSim.Physics/OdePlugin/AssemblyInfo.cs create mode 100644 OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs create mode 100644 OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj create mode 100644 OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj.user create mode 100644 OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build create mode 100644 OpenSim/OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs create mode 100644 OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj create mode 100644 OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj.user create mode 100644 OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build create mode 100644 OpenSim/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs (limited to 'OpenSim/OpenSim.Physics') diff --git a/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs new file mode 100644 index 0000000..0c9c06c --- /dev/null +++ b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs @@ -0,0 +1,31 @@ +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +// Information about this assembly is defined by the following +// attributes. +// +// change them to the information which is associated with the assembly +// you compile. + +[assembly: AssemblyTitle("PhysXplugin")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("PhysXplugin")] +[assembly: AssemblyCopyright("")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// This sets the default COM visibility of types in the assembly to invisible. +// If you need to expose a type to COM, use [ComVisible(true)] on that type. +[assembly: ComVisible(false)] + +// The assembly version has following format : +// +// Major.Minor.Build.Revision +// +// You can specify all values by your own or you can build default build and revision +// numbers with the '*' character (the default): + +[assembly: AssemblyVersion("1.0.*")] diff --git a/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs new file mode 100644 index 0000000..54be853 --- /dev/null +++ b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs @@ -0,0 +1,297 @@ +/* +* Copyright (c) OpenSim project, http://sim.opensecondlife.org/ +* +* 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 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 ``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 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; + +namespace OpenSim.Physics.BasicPhysicsPlugin +{ + /// + /// Will be the PhysX plugin but for now will be a very basic physics engine + /// + public class BasicPhysicsPlugin : IPhysicsPlugin + { + private BasicScene _mScene; + + public BasicPhysicsPlugin() + { + + } + + public bool Init() + { + return true; + } + + public PhysicsScene GetScene() + { + if(_mScene == null) + { + _mScene = new BasicScene(); + } + return(_mScene); + } + + public string GetName() + { + return("basicphysics"); + } + + public void Dispose() + { + + } + } + + public class BasicScene :PhysicsScene + { + private List _actors = new List(); + private float[] _heightMap; + + public BasicScene() + { + + } + + public override PhysicsActor AddAvatar(PhysicsVector position) + { + BasicActor act = new BasicActor(); + act.Position = position; + _actors.Add(act); + return act; + } + + public override void RemoveAvatar(PhysicsActor actor) + { + BasicActor act = (BasicActor)actor; + if(_actors.Contains(act)) + { + _actors.Remove(act); + } + + } + + public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) + { + return null; + } + + public override void Simulate(float timeStep) + { + foreach (BasicActor actor in _actors) + { + actor.Position.X = actor.Position.X + (actor.Velocity.X * timeStep); + actor.Position.Y = actor.Position.Y + (actor.Velocity.Y * timeStep); + actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep); + /*if(actor.Flying) + { + actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep); + } + else + { + actor.Position.Z = actor.Position.Z + ((-9.8f + actor.Velocity.Z) * timeStep); + } + if(actor.Position.Z < (_heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1)) + {*/ + if ((actor.Position.Y > 0 && actor.Position.Y < 256) && (actor.Position.X > 0 && actor.Position.X < 256)) + { + actor.Position.Z = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X] + 1; + } + else + { + if (actor.Position.Y < -1) + { + actor.Position.Y = -1; + } + else if (actor.Position.Y > 257) + { + actor.Position.Y = 257; + } + + if (actor.Position.X < -1) + { + actor.Position.X = -1; + } + if (actor.Position.X > 257) + { + actor.Position.X = 257; + } + } + //} + + + + // This code needs sorting out - border crossings etc +/* if(actor.Position.X<0) + { + ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z)); + actor.Position.X = 0; + actor.Velocity.X = 0; + } + if(actor.Position.Y < 0) + { + ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z)); + actor.Position.Y = 0; + actor.Velocity.Y = 0; + } + if(actor.Position.X > 255) + { + ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z)); + actor.Position.X = 255; + actor.Velocity.X = 0; + } + if(actor.Position.Y > 255) + { + ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z)); + actor.Position.Y = 255; + actor.Velocity.X = 0; + }*/ + } + } + + public override void GetResults() + { + + } + + public override bool IsThreaded + { + get + { + return(false); // for now we won't be multithreaded + } + } + + public override void SetTerrain(float[] heightMap) + { + this._heightMap = heightMap; + } + + public override void DeleteTerrain() + { + + } + } + + public class BasicActor : PhysicsActor + { + private PhysicsVector _position; + private PhysicsVector _velocity; + private PhysicsVector _acceleration; + private bool flying; + public BasicActor() + { + _velocity = new PhysicsVector(); + _position = new PhysicsVector(); + _acceleration = new PhysicsVector(); + } + + public override bool Flying + { + get + { + return false; + } + 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 Axiom.MathLib.Quaternion Orientation + { + get + { + return Axiom.MathLib.Quaternion.Identity; + } + set + { + + } + } + + public override PhysicsVector Acceleration + { + get + { + return _acceleration; + } + + } + + public override bool Kinematic + { + get + { + return true; + } + set + { + + } + } + public void SetAcceleration (PhysicsVector accel) + { + this._acceleration = accel; + } + + public override void AddForce(PhysicsVector force) + { + + } + + public override void SetMomentum(PhysicsVector momentum) + { + + } + } + +} diff --git a/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj new file mode 100644 index 0000000..15f3f72 --- /dev/null +++ b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj @@ -0,0 +1,93 @@ + + + Local + 8.0.50727 + 2.0 + {4F874463-0000-0000-0000-000000000000} + Debug + AnyCPU + + + + OpenSim.Physics.BasicPhysicsPlugin + JScript + Grid + IE50 + false + Library + + OpenSim.Physics.BasicPhysicsPlugin + + + + + + False + 285212672 + False + + + TRACE;DEBUG + + True + 4096 + False + ..\..\..\bin\Physics\ + False + False + False + 4 + + + + False + 285212672 + False + + + TRACE + + False + 4096 + True + ..\..\..\bin\Physics\ + False + False + False + 4 + + + + + System.dll + False + + + ..\..\..\bin\Axiom.MathLib.dll + False + + + + + OpenSim.Physics.Manager + {8BE16150-0000-0000-0000-000000000000} + {FAE04EC0-301F-11D3-BF4B-00C04F79EFBC} + False + + + + + Code + + + Code + + + + + + + + + + diff --git a/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user new file mode 100644 index 0000000..d47d65d --- /dev/null +++ b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user @@ -0,0 +1,12 @@ + + + Debug + AnyCPU + C:\New Folder\second-life-viewer\opensim-dailys2\opensim15-07\bin\ + 8.0.50727 + ProjectFiles + 0 + + + + diff --git a/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build new file mode 100644 index 0000000..5845387 --- /dev/null +++ b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/OpenSim/OpenSim.Physics/Manager/AssemblyInfo.cs b/OpenSim/OpenSim.Physics/Manager/AssemblyInfo.cs new file mode 100644 index 0000000..57a8913 --- /dev/null +++ b/OpenSim/OpenSim.Physics/Manager/AssemblyInfo.cs @@ -0,0 +1,31 @@ +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +// Information about this assembly is defined by the following +// attributes. +// +// change them to the information which is associated with the assembly +// you compile. + +[assembly: AssemblyTitle("PhysicsManager")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("PhysicsManager")] +[assembly: AssemblyCopyright("")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// This sets the default COM visibility of types in the assembly to invisible. +// If you need to expose a type to COM, use [ComVisible(true)] on that type. +[assembly: ComVisible(false)] + +// The assembly version has following format : +// +// Major.Minor.Build.Revision +// +// You can specify all values by your own or you can build default build and revision +// numbers with the '*' character (the default): + +[assembly: AssemblyVersion("1.0.*")] diff --git a/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj new file mode 100644 index 0000000..70ffa30 --- /dev/null +++ b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj @@ -0,0 +1,112 @@ + + + Local + 8.0.50727 + 2.0 + {8BE16150-0000-0000-0000-000000000000} + Debug + AnyCPU + + + + OpenSim.Physics.Manager + JScript + Grid + IE50 + false + Library + + OpenSim.Physics.Manager + + + + + + False + 285212672 + False + + + TRACE;DEBUG + + True + 4096 + False + ..\..\..\bin\ + False + False + False + 4 + + + + False + 285212672 + False + + + TRACE + + False + 4096 + True + ..\..\..\bin\ + False + False + False + 4 + + + + + System.dll + False + + + System.Xml.dll + False + + + ..\..\..\bin\Axiom.MathLib.dll + False + + + + + OpenSim.Framework + {8ACA2445-0000-0000-0000-000000000000} + {FAE04EC0-301F-11D3-BF4B-00C04F79EFBC} + False + + + OpenSim.Framework.Console + {A7CD0630-0000-0000-0000-000000000000} + {FAE04EC0-301F-11D3-BF4B-00C04F79EFBC} + False + + + + + Code + + + Code + + + Code + + + Code + + + Code + + + + + + + + + + diff --git a/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj.user b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj.user new file mode 100644 index 0000000..d47d65d --- /dev/null +++ b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj.user @@ -0,0 +1,12 @@ + + + Debug + AnyCPU + C:\New Folder\second-life-viewer\opensim-dailys2\opensim15-07\bin\ + 8.0.50727 + ProjectFiles + 0 + + + + diff --git a/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build new file mode 100644 index 0000000..726444a --- /dev/null +++ b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/OpenSim/OpenSim.Physics/Manager/PhysicsActor.cs b/OpenSim/OpenSim.Physics/Manager/PhysicsActor.cs new file mode 100644 index 0000000..a0b6c21 --- /dev/null +++ b/OpenSim/OpenSim.Physics/Manager/PhysicsActor.cs @@ -0,0 +1,161 @@ +/* +* Copyright (c) OpenSim project, http://sim.opensecondlife.org/ +* +* 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 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 ``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 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 System.Text; + +namespace OpenSim.Physics.Manager +{ + public abstract class PhysicsActor + { + public static PhysicsActor Null + { + get + { + return new NullPhysicsActor(); + } + } + + public abstract PhysicsVector Position + { + get; + set; + } + + public abstract PhysicsVector Velocity + { + get; + set; + } + + public abstract PhysicsVector Acceleration + { + get; + } + + public abstract Axiom.MathLib.Quaternion Orientation + { + get; + set; + } + + public abstract bool Flying + { + get; + set; + } + + public abstract bool Kinematic + { + get; + set; + } + + public abstract void AddForce(PhysicsVector force); + + public abstract void SetMomentum(PhysicsVector momentum); + } + + public class NullPhysicsActor : PhysicsActor + { + public override PhysicsVector Position + { + get + { + return PhysicsVector.Zero; + } + set + { + return; + } + } + + public override PhysicsVector Velocity + { + get + { + return PhysicsVector.Zero; + } + set + { + return; + } + } + + public override Axiom.MathLib.Quaternion Orientation + { + get + { + return Axiom.MathLib.Quaternion.Identity; + } + set + { + + } + } + + public override PhysicsVector Acceleration + { + get { return PhysicsVector.Zero; } + } + + public override bool Flying + { + get + { + return false; + } + set + { + return; + } + } + + public override bool Kinematic + { + get + { + return true; + } + set + { + return; + } + } + + public override void AddForce(PhysicsVector force) + { + return; + } + + public override void SetMomentum(PhysicsVector momentum) + { + return; + } + } +} diff --git a/OpenSim/OpenSim.Physics/Manager/PhysicsManager.cs b/OpenSim/OpenSim.Physics/Manager/PhysicsManager.cs new file mode 100644 index 0000000..291fc7e --- /dev/null +++ b/OpenSim/OpenSim.Physics/Manager/PhysicsManager.cs @@ -0,0 +1,116 @@ +/* +* Copyright (c) OpenSim project, http://sim.opensecondlife.org/ +* +* 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 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 ``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 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 System.Collections; +using System.IO; +using System.Reflection; +using Axiom.MathLib; +using OpenSim.Framework.Console; + +namespace OpenSim.Physics.Manager +{ + /// + /// Description of MyClass. + /// + public class PhysicsManager + { + private Dictionary _plugins=new Dictionary(); + + public PhysicsManager() + { + + } + + public PhysicsScene GetPhysicsScene(string engineName) + { + if (String.IsNullOrEmpty(engineName)) + { + return new NullPhysicsScene(); + } + + if(_plugins.ContainsKey(engineName)) + { + OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.LOW,"creating "+engineName); + return _plugins[engineName].GetScene(); + } + else + { + OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.MEDIUM,"couldn't find physicsEngine: {0}",engineName); + throw new ArgumentException(String.Format("couldn't find physicsEngine: {0}",engineName)); + } + } + + public void LoadPlugins() + { + string path = Path.Combine(System.AppDomain.CurrentDomain.BaseDirectory ,"Physics"); + string[] pluginFiles = Directory.GetFiles(path, "*.dll"); + + + for(int i= 0; i 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 ``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 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 System.Text; +using OpenSim.Framework.Console; + +namespace OpenSim.Physics.Manager +{ + public abstract class PhysicsScene + { + public static PhysicsScene Null + { + get + { + return new NullPhysicsScene(); + } + } + + public abstract PhysicsActor AddAvatar(PhysicsVector position); + + public abstract void RemoveAvatar(PhysicsActor actor); + + public abstract PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size); + + public abstract void Simulate(float timeStep); + + public abstract void GetResults(); + + public abstract void SetTerrain(float[] heightMap); + + public abstract void DeleteTerrain(); + + public abstract bool IsThreaded + { + get; + } + } + + public class NullPhysicsScene : PhysicsScene + { + private static int m_workIndicator; + + public override PhysicsActor AddAvatar(PhysicsVector position) + { + OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.VERBOSE,"NullPhysicsScene : AddAvatar({0})", position); + return PhysicsActor.Null; + } + + public override void RemoveAvatar(PhysicsActor actor) + { + + } + + public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) + { + OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.VERBOSE, "NullPhysicsScene : AddPrim({0},{1})", position, size); + return PhysicsActor.Null; + } + + public override void Simulate(float timeStep) + { + m_workIndicator = (m_workIndicator + 1) % 10; + + //OpenSim.Framework.Console.MainConsole.Instance.SetStatus(m_workIndicator.ToString()); + } + + public override void GetResults() + { + OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.VERBOSE, "NullPhysicsScene : GetResults()"); + } + + public override void SetTerrain(float[] heightMap) + { + OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.VERBOSE, "NullPhysicsScene : SetTerrain({0} items)", heightMap.Length); + } + + public override void DeleteTerrain() + { + + } + + public override bool IsThreaded + { + get { return false; } + } + } +} diff --git a/OpenSim/OpenSim.Physics/Manager/PhysicsVector.cs b/OpenSim/OpenSim.Physics/Manager/PhysicsVector.cs new file mode 100644 index 0000000..3c824d0 --- /dev/null +++ b/OpenSim/OpenSim.Physics/Manager/PhysicsVector.cs @@ -0,0 +1,54 @@ +/* +* Copyright (c) OpenSim project, http://sim.opensecondlife.org/ +* +* 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 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 ``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 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 System.Text; + +namespace OpenSim.Physics.Manager +{ + public class PhysicsVector + { + public float X; + public float Y; + public float Z; + + public PhysicsVector() + { + + } + + public PhysicsVector(float x, float y, float z) + { + X = x; + Y = y; + Z = z; + } + + public static readonly PhysicsVector Zero = new PhysicsVector(0f, 0f, 0f); + } +} diff --git a/OpenSim/OpenSim.Physics/OdePlugin/AssemblyInfo.cs b/OpenSim/OpenSim.Physics/OdePlugin/AssemblyInfo.cs new file mode 100644 index 0000000..913aae7 --- /dev/null +++ b/OpenSim/OpenSim.Physics/OdePlugin/AssemblyInfo.cs @@ -0,0 +1,31 @@ +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +// Information about this assembly is defined by the following +// attributes. +// +// change them to the information which is associated with the assembly +// you compile. + +[assembly: AssemblyTitle("RealPhysXplugin")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("RealPhysXplugin")] +[assembly: AssemblyCopyright("")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// This sets the default COM visibility of types in the assembly to invisible. +// If you need to expose a type to COM, use [ComVisible(true)] on that type. +[assembly: ComVisible(false)] + +// The assembly version has following format : +// +// Major.Minor.Build.Revision +// +// You can specify all values by your own or you can build default build and revision +// numbers with the '*' character (the default): + +[assembly: AssemblyVersion("1.0.*")] diff --git a/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs b/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs new file mode 100644 index 0000000..599dea8 --- /dev/null +++ b/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs @@ -0,0 +1,452 @@ +/* +* Copyright (c) OpenSim project, http://sim.opensecondlife.org/ +* +* 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 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 ``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 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.Bounce | d.ContactFlags.SoftCFM; + contact.surface.mu = d.Infinity; + contact.surface.mu2 = 0.0f; + contact.surface.bounce = 0.1f; + contact.surface.bounce_vel = 0.1f; + contact.surface.soft_cfm = 0.01f; + + world = d.WorldCreate(); + space = d.HashSpaceCreate(IntPtr.Zero); + contactgroup = d.JointGroupCreate(0); + d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f); + //d.WorldSetCFM(world, 1e-5f); + d.WorldSetAutoDisableFlag(world, false); + d.WorldSetContactSurfaceLayer(world, 0.001f); + // d.CreatePlane(space, 0, 0, 1, 0); + this._heightmap = new double[65536]; + } + + // This function blatantly ripped off from BoxStack.cs + static private void near(IntPtr space, IntPtr g1, IntPtr g2) + { + //Console.WriteLine("collision callback"); + 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 * 5f); + } + d.SpaceCollide(space, IntPtr.Zero, nearCallback); + d.WorldQuickStep(world, timeStep * 5f); + 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]; + } + 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; + //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, 5.0f, 3, 0.5f, 2f); + capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f); + 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(); + vec.X = this._velocity.X * timeStep; + vec.Y = this._velocity.Y * timeStep; + if (flying) + { + vec.Z = (this._velocity.Z + 0.5f) * timeStep; + } + d.BodySetLinearVel(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) + { + + } + + + } + +} diff --git a/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj new file mode 100644 index 0000000..8d57bd5 --- /dev/null +++ b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj @@ -0,0 +1,97 @@ + + + Local + 8.0.50727 + 2.0 + {63A05FE9-0000-0000-0000-000000000000} + Debug + AnyCPU + + + + OpenSim.Physics.OdePlugin + JScript + Grid + IE50 + false + Library + + OpenSim.Physics.OdePlugin + + + + + + False + 285212672 + False + + + TRACE;DEBUG + + True + 4096 + False + ..\..\..\bin\Physics\ + False + False + False + 4 + + + + False + 285212672 + False + + + TRACE + + False + 4096 + True + ..\..\..\bin\Physics\ + False + False + False + 4 + + + + + System.dll + False + + + ..\..\..\bin\Axiom.MathLib.dll + False + + + ..\..\..\bin\Ode.NET.dll + False + + + + + OpenSim.Physics.Manager + {8BE16150-0000-0000-0000-000000000000} + {FAE04EC0-301F-11D3-BF4B-00C04F79EFBC} + False + + + + + Code + + + Code + + + + + + + + + + diff --git a/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj.user b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj.user new file mode 100644 index 0000000..d47d65d --- /dev/null +++ b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj.user @@ -0,0 +1,12 @@ + + + Debug + AnyCPU + C:\New Folder\second-life-viewer\opensim-dailys2\opensim15-07\bin\ + 8.0.50727 + ProjectFiles + 0 + + + + diff --git a/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build new file mode 100644 index 0000000..a49782f --- /dev/null +++ b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/OpenSim/OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs b/OpenSim/OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs new file mode 100644 index 0000000..913aae7 --- /dev/null +++ b/OpenSim/OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs @@ -0,0 +1,31 @@ +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +// Information about this assembly is defined by the following +// attributes. +// +// change them to the information which is associated with the assembly +// you compile. + +[assembly: AssemblyTitle("RealPhysXplugin")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("RealPhysXplugin")] +[assembly: AssemblyCopyright("")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// This sets the default COM visibility of types in the assembly to invisible. +// If you need to expose a type to COM, use [ComVisible(true)] on that type. +[assembly: ComVisible(false)] + +// The assembly version has following format : +// +// Major.Minor.Build.Revision +// +// You can specify all values by your own or you can build default build and revision +// numbers with the '*' character (the default): + +[assembly: AssemblyVersion("1.0.*")] diff --git a/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj new file mode 100644 index 0000000..b72bb0f --- /dev/null +++ b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj @@ -0,0 +1,97 @@ + + + Local + 8.0.50727 + 2.0 + {988F0AC4-0000-0000-0000-000000000000} + Debug + AnyCPU + + + + OpenSim.Physics.PhysXPlugin + JScript + Grid + IE50 + false + Library + + OpenSim.Physics.PhysXPlugin + + + + + + False + 285212672 + False + + + TRACE;DEBUG + + True + 4096 + False + ..\..\..\bin\Physics\ + False + False + False + 4 + + + + False + 285212672 + False + + + TRACE + + False + 4096 + True + ..\..\..\bin\Physics\ + False + False + False + 4 + + + + + System.dll + False + + + ..\..\..\bin\Axiom.MathLib.dll + False + + + ..\..\..\bin\PhysX_Wrapper_Dotnet.dll + False + + + + + OpenSim.Physics.Manager + {8BE16150-0000-0000-0000-000000000000} + {FAE04EC0-301F-11D3-BF4B-00C04F79EFBC} + False + + + + + Code + + + Code + + + + + + + + + + diff --git a/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj.user b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj.user new file mode 100644 index 0000000..d47d65d --- /dev/null +++ b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj.user @@ -0,0 +1,12 @@ + + + Debug + AnyCPU + C:\New Folder\second-life-viewer\opensim-dailys2\opensim15-07\bin\ + 8.0.50727 + ProjectFiles + 0 + + + + diff --git a/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build new file mode 100644 index 0000000..2ea5534 --- /dev/null +++ b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/OpenSim/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs new file mode 100644 index 0000000..dff1ee2 --- /dev/null +++ b/OpenSim/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs @@ -0,0 +1,449 @@ +/* +* Copyright (c) OpenSim project, http://sim.opensecondlife.org/ +* +* 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 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 ``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 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. +* +*/ +/* +* Copyright (c) OpenSim project, http://sim.opensecondlife.org/ +* +* 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 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 ``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 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 PhysXWrapper; + +namespace OpenSim.Physics.PhysXPlugin +{ + /// + /// Will be the PhysX plugin but for now will be a very basic physics engine + /// + public class PhysXPlugin : IPhysicsPlugin + { + private PhysXScene _mScene; + + public PhysXPlugin() + { + + } + + public bool Init() + { + return true; + } + + public PhysicsScene GetScene() + { + if(_mScene == null) + { + _mScene = new PhysXScene(); + } + return(_mScene); + } + + public string GetName() + { + return("RealPhysX"); + } + + public void Dispose() + { + + } + } + + public class PhysXScene :PhysicsScene + { + private List _characters = new List(); + private List _prims = new List(); + private float[] _heightMap = null; + private NxPhysicsSDK mySdk; + private NxScene scene; + + public PhysXScene() + { + mySdk = NxPhysicsSDK.CreateSDK(); + Console.WriteLine("Sdk created - now creating scene"); + scene = mySdk.CreateScene(); + + } + + public override PhysicsActor AddAvatar(PhysicsVector position) + { + Vec3 pos = new Vec3(); + pos.X = position.X; + pos.Y = position.Y; + pos.Z = position.Z; + PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos)); + act.Position = position; + _characters.Add(act); + return act; + } + + public override void RemoveAvatar(PhysicsActor actor) + { + + } + + public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) + { + Vec3 pos = new Vec3(); + pos.X = position.X; + pos.Y = position.Y; + pos.Z = position.Z; + Vec3 siz = new Vec3(); + siz.X = size.X; + siz.Y = size.Y; + siz.Z = size.Z; + PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz)); + _prims.Add(act); + return act; + } + public override void Simulate(float timeStep) + { + try + { + foreach (PhysXCharacter actor in _characters) + { + actor.Move(timeStep); + } + scene.Simulate(timeStep); + scene.FetchResults(); + scene.UpdateControllers(); + + foreach (PhysXCharacter actor in _characters) + { + actor.UpdatePosition(); + } + } + catch (Exception e) + { + Console.WriteLine(e.Message); + } + + } + + public override void GetResults() + { + + } + + public override bool IsThreaded + { + get + { + return(false); // for now we won't be multithreaded + } + } + + public override void SetTerrain(float[] heightMap) + { + if (this._heightMap != null) + { + Console.WriteLine("PhysX - deleting old terrain"); + this.scene.DeleteTerrain(); + } + this._heightMap = heightMap; + this.scene.AddTerrain(heightMap); + } + + public override void DeleteTerrain() + { + this.scene.DeleteTerrain(); + } + } + + public class PhysXCharacter : PhysicsActor + { + private PhysicsVector _position; + private PhysicsVector _velocity; + private PhysicsVector _acceleration; + private NxCharacter _character; + private bool flying; + private float gravityAccel; + + public PhysXCharacter(NxCharacter character) + { + _velocity = new PhysicsVector(); + _position = new PhysicsVector(); + _acceleration = new PhysicsVector(); + _character = character; + } + + public override bool Flying + { + get + { + return flying; + } + set + { + flying = value; + } + } + + public override PhysicsVector Position + { + get + { + return _position; + } + set + { + _position = value; + Vec3 ps = new Vec3(); + ps.X = value.X; + ps.Y = value.Y; + ps.Z = value.Z; + this._character.Position = ps; + } + } + + 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) + { + Vec3 vec = new Vec3(); + vec.X = this._velocity.X * timeStep; + vec.Y = this._velocity.Y * timeStep; + if(flying) + { + vec.Z = ( this._velocity.Z) * timeStep; + } + else + { + gravityAccel+= -9.8f; + vec.Z = (gravityAccel + this._velocity.Z) * timeStep; + } + int res = this._character.Move(vec); + if(res == 1) + { + gravityAccel = 0; + } + } + + public void UpdatePosition() + { + Vec3 vec = this._character.Position; + this._position.X = vec.X; + this._position.Y = vec.Y; + this._position.Z = vec.Z; + } + } + + public class PhysXPrim : PhysicsActor + { + private PhysicsVector _position; + private PhysicsVector _velocity; + private PhysicsVector _acceleration; + private NxActor _prim; + + public PhysXPrim(NxActor prim) + { + _velocity = new PhysicsVector(); + _position = new PhysicsVector(); + _acceleration = new PhysicsVector(); + _prim = prim; + } + public override bool Flying + { + get + { + return false; //no flying prims for you + } + set + { + + } + } + public override PhysicsVector Position + { + get + { + PhysicsVector pos = new PhysicsVector(); + Vec3 vec = this._prim.Position; + pos.X = vec.X; + pos.Y = vec.Y; + pos.Z = vec.Z; + return pos; + + } + set + { + PhysicsVector vec = value; + Vec3 pos = new Vec3(); + 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 this._prim.Kinematic; + } + set + { + this._prim.Kinematic = value; + } + } + + public override Axiom.MathLib.Quaternion Orientation + { + get + { + Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion(); + PhysXWrapper.Quaternion quat = this._prim.GetOrientation(); + res.w = quat.W; + res.x = quat.X; + res.y = quat.Y; + res.z = quat.Z; + 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) + { + + } + + + } + +} -- cgit v1.1