From 2a3c79df83e800d5dfe75a1a3b140ed81da2b1d6 Mon Sep 17 00:00:00 2001 From: Sean Dague Date: Mon, 16 Jul 2007 15:40:11 +0000 Subject: changed to native line ending encoding --- .../Physics/BasicPhysicsPlugin/AssemblyInfo.cs | 112 +- .../BasicPhysicsPlugin/BasicPhysicsPlugin.cs | 602 +++++------ .../Region/Physics/BulletXPlugin/AssemblyInfo.cs | 112 +- .../Region/Physics/BulletXPlugin/BulletXPlugin.cs | 1068 ++++++++++---------- OpenSim/Region/Physics/Manager/AssemblyInfo.cs | 112 +- OpenSim/Region/Physics/Manager/PhysicsActor.cs | 334 +++--- OpenSim/Region/Physics/Manager/PhysicsManager.cs | 230 ++--- OpenSim/Region/Physics/Manager/PhysicsScene.cs | 220 ++-- OpenSim/Region/Physics/Manager/PhysicsVector.cs | 110 +- OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs | 112 +- OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 914 ++++++++--------- OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs | 112 +- OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs | 850 ++++++++-------- 13 files changed, 2444 insertions(+), 2444 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs index ce567a9..ecf8e68 100644 --- a/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs @@ -1,56 +1,56 @@ -/* -* 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.Reflection; -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.*")] +/* +* 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.Reflection; +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/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs index f133045..ec406f1 100644 --- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs +++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs @@ -1,301 +1,301 @@ -/* -* 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.Collections.Generic; -using Axiom.Math; -using OpenSim.Physics.Manager; - -namespace OpenSim.Region.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() - { - return new BasicScene(); - } - - 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) - { - if ((actor.Position.Y > 0 && actor.Position.Y < 256) && (actor.Position.X > 0 && actor.Position.X < 256)) - { - float height = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X] + 1.2f; - actor.Position.X = actor.Position.X + (actor.Velocity.X * timeStep); - actor.Position.Y = actor.Position.Y + (actor.Velocity.Y * timeStep); - if (actor.Flying) - { - if (actor.Position.Z + (actor.Velocity.Z * timeStep) < - _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X] + 2) - { - actor.Position.Z = height; - actor.Velocity.Z = 0; - } - else - { - actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep); - } - } - else - { - actor.Position.Z = height; - actor.Velocity.Z = 0; - } - } - else - { - if (actor.Position.Y < 0) - { - actor.Position.Y = 0; - } - else if (actor.Position.Y > 256) - { - actor.Position.Y = 256; - } - - if (actor.Position.X < 0) - { - actor.Position.X = 0; - } - if (actor.Position.X > 256) - { - actor.Position.X = 256; - } - } - //} - - - - // 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 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 Quaternion Orientation - { - get - { - return 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) - { - - } - } - -} +/* +* 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.Collections.Generic; +using Axiom.Math; +using OpenSim.Physics.Manager; + +namespace OpenSim.Region.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() + { + return new BasicScene(); + } + + 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) + { + if ((actor.Position.Y > 0 && actor.Position.Y < 256) && (actor.Position.X > 0 && actor.Position.X < 256)) + { + float height = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X] + 1.2f; + actor.Position.X = actor.Position.X + (actor.Velocity.X * timeStep); + actor.Position.Y = actor.Position.Y + (actor.Velocity.Y * timeStep); + if (actor.Flying) + { + if (actor.Position.Z + (actor.Velocity.Z * timeStep) < + _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X] + 2) + { + actor.Position.Z = height; + actor.Velocity.Z = 0; + } + else + { + actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep); + } + } + else + { + actor.Position.Z = height; + actor.Velocity.Z = 0; + } + } + else + { + if (actor.Position.Y < 0) + { + actor.Position.Y = 0; + } + else if (actor.Position.Y > 256) + { + actor.Position.Y = 256; + } + + if (actor.Position.X < 0) + { + actor.Position.X = 0; + } + if (actor.Position.X > 256) + { + actor.Position.X = 256; + } + } + //} + + + + // 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 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 Quaternion Orientation + { + get + { + return 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/Region/Physics/BulletXPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs index bda35f7..42ccdff 100644 --- a/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs @@ -1,56 +1,56 @@ -/* -* 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.Reflection; -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("BulletXPlugin")] -[assembly: AssemblyDescription("")] -[assembly: AssemblyConfiguration("")] -[assembly: AssemblyCompany("")] -[assembly: AssemblyProduct("BulletXPlugin")] -[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("1.0.0.0")] +/* +* 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.Reflection; +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("BulletXPlugin")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("BulletXPlugin")] +[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("1.0.0.0")] diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs index 1ca5efe..383dbc0 100644 --- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs +++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs @@ -1,534 +1,534 @@ -/* -* 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. -* -*/ -#region References -using System; -using System.Collections.Generic; -using OpenSim.Physics.Manager; -using Axiom.Math; -//Specific References for BulletXPlugin -using MonoXnaCompactMaths; -using XnaDevRu.BulletX; -using XnaDevRu.BulletX.Dynamics; -#endregion - -namespace OpenSim.Region.Physics.BulletXPlugin -{ - /// - /// This Class converts objects and types for BulletX - /// - public class BulletXConversions - { - public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector) - { - return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z); - } - public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3) - { - XnaVector3.X = physicsVector.X; - XnaVector3.Y = physicsVector.Y; - XnaVector3.Z = physicsVector.Z; - } - public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3) - { - return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z); - } - /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector) - { - xnaVector3.X = physicsVector.X; - xnaVector3.Y = physicsVector.Y; - xnaVector3.Z = physicsVector.Z; - }*/ - #region Axiom and Xna - ///// - ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know - ///// - ///// - ///// - //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3) - //{ - // return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z); - //} - #endregion - } - /// - /// PhysicsPlugin Class for BulletX - /// - public class BulletXPlugin : IPhysicsPlugin - { - private BulletXScene _mScene; - - public BulletXPlugin() - { - } - public bool Init() - { - return true; - } - public PhysicsScene GetScene() - { - if (_mScene == null) - { - _mScene = new BulletXScene(); - } - return (_mScene); - } - public string GetName() - { - return ("BulletXEngine"); - } - public void Dispose() - { - } - } - /// - /// PhysicsScene Class for BulletX - /// - public class BulletXScene : PhysicsScene - { - public DiscreteDynamicsWorld ddWorld; - private CollisionDispatcher cDispatcher; - private OverlappingPairCache opCache; - private SequentialImpulseConstraintSolver sicSolver; - - private const int minXY = 0; - private const int minZ = 0; - private const int maxXY = 256; - private const int maxZ = 4096; - private const int maxHandles = 32766; //Why? I don't know - private static float gravity = 9.8f; - private static float heightLevel0 = 77.0f; - private static float heightLevel1 = 200.0f; - private static float lowGravityFactor = 0.2f; - - private float[] _heightmap; - private List _characters = new List(); - - public static float Gravity { get { return gravity; } } - public static float HeightLevel0 { get { return heightLevel0; } } - public static float HeightLevel1 { get { return heightLevel1; } } - public static float LowGravityFactor { get { return lowGravityFactor; } } - - public BulletXScene() - { - cDispatcher = new CollisionDispatcher(); - MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ); - MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ); - opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles); - sicSolver = new SequentialImpulseConstraintSolver(); - - ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver); - ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity); - - this._heightmap = new float[65536]; - } - - public override PhysicsActor AddAvatar(PhysicsVector position) - { - PhysicsVector pos = new PhysicsVector(); - pos.X = position.X; - pos.Y = position.Y; - pos.Z = position.Z + 20; - BulletXCharacter newAv = new BulletXCharacter(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 BulletXPrim(); - } - - public override void Simulate(float timeStep) - { - foreach (BulletXCharacter actor in _characters) - { - actor.Move(timeStep); - - } - ddWorld.StepSimulation(timeStep, 0, timeStep); - foreach (BulletXCharacter actor in _characters) - { - actor.ValidateHeight(this._heightmap[ - (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256 - + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]); - } - foreach (BulletXCharacter 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) - { - //As the same as ODE, heightmap (x,y) must be swapped for BulletX - 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] = heightMap[x * 256 + y]; - } - } - - public override void DeleteTerrain() - { - - } - } - /// - /// PhysicsActor Character Class for BulletX - /// - public class BulletXCharacter : PhysicsActor - { - private PhysicsVector _position; - private PhysicsVector _velocity; - private PhysicsVector _acceleration; - private bool flying; - private RigidBody rigidBody; - public Axiom.Math.Vector2 RigidBodyHorizontalPosition - { - get - { - return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y); - } - } - public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos) - { - _velocity = new PhysicsVector(); - _position = pos; - _acceleration = new PhysicsVector(); - float _mass = 50.0f; //This depends of avatar's dimensions - Matrix _startTransform = Matrix.Identity; - _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos); - Matrix _centerOfMassOffset = Matrix.Identity; - CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f)); - DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); - MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); - _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0 - - //The next values might change - float _linearDamping = 0.0f; - float _angularDamping = 0.0f; - float _friction = 0.5f; - float _restitution = 0.0f; - - rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); - rigidBody.ActivationState = ActivationState.DisableDeactivation; - - parent_scene.ddWorld.AddRigidBody(rigidBody); - } - - 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.Math.Quaternion Orientation - { - get - { - return Axiom.Math.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) - { - MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3(); - //if (this._velocity.X == 0.0f) - // vec.X = this.rigidBody.LinearVelocity.X; //current velocity - //else - vec.X = this._velocity.X; //overrides current velocity - - //if (this._velocity.Y == 0.0f) - // vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity - //else - vec.Y = this._velocity.Y; //overrides current velocity - - float nextZVelocity; - //if (this._velocity.Z == 0.0f) - // nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity - //else - nextZVelocity = this._velocity.Z; //overrides current velocity - - if (flying) - { - //Antigravity with movement - if (this._position.Z <= BulletXScene.HeightLevel0) - { - vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep; - } - //Lowgravity with movement - else if((this._position.Z > BulletXScene.HeightLevel0) - && (this._position.Z <= BulletXScene.HeightLevel1)) - { - vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); - } - //Lowgravity with... - else if (this._position.Z > BulletXScene.HeightLevel1) - { - if(nextZVelocity > 0) //no movement - vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); - else - vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); - - } - } - else - { - vec.Z = nextZVelocity; - } - rigidBody.LinearVelocity = vec; - } - - public void UpdatePosition() - { - this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); - } - - //This validation is very basic - internal void ValidateHeight(float heighmapPositionValue) - { - if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue) - { - Matrix m = rigidBody.WorldTransform; - MonoXnaCompactMaths.Vector3 v3 = m.Translation; - v3.Z = heighmapPositionValue; - m.Translation = v3; - rigidBody.WorldTransform = m; - } - } - } - /// - /// PhysicsActor Prim Class for BulletX - /// - public class BulletXPrim : PhysicsActor - { - private PhysicsVector _position; - private PhysicsVector _velocity; - private PhysicsVector _acceleration; - - public BulletXPrim() - { - _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.Math.Quaternion Orientation - { - get - { - Axiom.Math.Quaternion res = new Axiom.Math.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) - { - - } - } -} +/* +* 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. +* +*/ +#region References +using System; +using System.Collections.Generic; +using OpenSim.Physics.Manager; +using Axiom.Math; +//Specific References for BulletXPlugin +using MonoXnaCompactMaths; +using XnaDevRu.BulletX; +using XnaDevRu.BulletX.Dynamics; +#endregion + +namespace OpenSim.Region.Physics.BulletXPlugin +{ + /// + /// This Class converts objects and types for BulletX + /// + public class BulletXConversions + { + public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector) + { + return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z); + } + public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3) + { + XnaVector3.X = physicsVector.X; + XnaVector3.Y = physicsVector.Y; + XnaVector3.Z = physicsVector.Z; + } + public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3) + { + return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z); + } + /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector) + { + xnaVector3.X = physicsVector.X; + xnaVector3.Y = physicsVector.Y; + xnaVector3.Z = physicsVector.Z; + }*/ + #region Axiom and Xna + ///// + ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know + ///// + ///// + ///// + //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3) + //{ + // return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z); + //} + #endregion + } + /// + /// PhysicsPlugin Class for BulletX + /// + public class BulletXPlugin : IPhysicsPlugin + { + private BulletXScene _mScene; + + public BulletXPlugin() + { + } + public bool Init() + { + return true; + } + public PhysicsScene GetScene() + { + if (_mScene == null) + { + _mScene = new BulletXScene(); + } + return (_mScene); + } + public string GetName() + { + return ("BulletXEngine"); + } + public void Dispose() + { + } + } + /// + /// PhysicsScene Class for BulletX + /// + public class BulletXScene : PhysicsScene + { + public DiscreteDynamicsWorld ddWorld; + private CollisionDispatcher cDispatcher; + private OverlappingPairCache opCache; + private SequentialImpulseConstraintSolver sicSolver; + + private const int minXY = 0; + private const int minZ = 0; + private const int maxXY = 256; + private const int maxZ = 4096; + private const int maxHandles = 32766; //Why? I don't know + private static float gravity = 9.8f; + private static float heightLevel0 = 77.0f; + private static float heightLevel1 = 200.0f; + private static float lowGravityFactor = 0.2f; + + private float[] _heightmap; + private List _characters = new List(); + + public static float Gravity { get { return gravity; } } + public static float HeightLevel0 { get { return heightLevel0; } } + public static float HeightLevel1 { get { return heightLevel1; } } + public static float LowGravityFactor { get { return lowGravityFactor; } } + + public BulletXScene() + { + cDispatcher = new CollisionDispatcher(); + MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ); + MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ); + opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles); + sicSolver = new SequentialImpulseConstraintSolver(); + + ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver); + ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity); + + this._heightmap = new float[65536]; + } + + public override PhysicsActor AddAvatar(PhysicsVector position) + { + PhysicsVector pos = new PhysicsVector(); + pos.X = position.X; + pos.Y = position.Y; + pos.Z = position.Z + 20; + BulletXCharacter newAv = new BulletXCharacter(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 BulletXPrim(); + } + + public override void Simulate(float timeStep) + { + foreach (BulletXCharacter actor in _characters) + { + actor.Move(timeStep); + + } + ddWorld.StepSimulation(timeStep, 0, timeStep); + foreach (BulletXCharacter actor in _characters) + { + actor.ValidateHeight(this._heightmap[ + (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256 + + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]); + } + foreach (BulletXCharacter 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) + { + //As the same as ODE, heightmap (x,y) must be swapped for BulletX + 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] = heightMap[x * 256 + y]; + } + } + + public override void DeleteTerrain() + { + + } + } + /// + /// PhysicsActor Character Class for BulletX + /// + public class BulletXCharacter : PhysicsActor + { + private PhysicsVector _position; + private PhysicsVector _velocity; + private PhysicsVector _acceleration; + private bool flying; + private RigidBody rigidBody; + public Axiom.Math.Vector2 RigidBodyHorizontalPosition + { + get + { + return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y); + } + } + public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos) + { + _velocity = new PhysicsVector(); + _position = pos; + _acceleration = new PhysicsVector(); + float _mass = 50.0f; //This depends of avatar's dimensions + Matrix _startTransform = Matrix.Identity; + _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos); + Matrix _centerOfMassOffset = Matrix.Identity; + CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f)); + DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); + MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); + _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0 + + //The next values might change + float _linearDamping = 0.0f; + float _angularDamping = 0.0f; + float _friction = 0.5f; + float _restitution = 0.0f; + + rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); + rigidBody.ActivationState = ActivationState.DisableDeactivation; + + parent_scene.ddWorld.AddRigidBody(rigidBody); + } + + 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.Math.Quaternion Orientation + { + get + { + return Axiom.Math.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) + { + MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3(); + //if (this._velocity.X == 0.0f) + // vec.X = this.rigidBody.LinearVelocity.X; //current velocity + //else + vec.X = this._velocity.X; //overrides current velocity + + //if (this._velocity.Y == 0.0f) + // vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity + //else + vec.Y = this._velocity.Y; //overrides current velocity + + float nextZVelocity; + //if (this._velocity.Z == 0.0f) + // nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity + //else + nextZVelocity = this._velocity.Z; //overrides current velocity + + if (flying) + { + //Antigravity with movement + if (this._position.Z <= BulletXScene.HeightLevel0) + { + vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep; + } + //Lowgravity with movement + else if((this._position.Z > BulletXScene.HeightLevel0) + && (this._position.Z <= BulletXScene.HeightLevel1)) + { + vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); + } + //Lowgravity with... + else if (this._position.Z > BulletXScene.HeightLevel1) + { + if(nextZVelocity > 0) //no movement + vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); + else + vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); + + } + } + else + { + vec.Z = nextZVelocity; + } + rigidBody.LinearVelocity = vec; + } + + public void UpdatePosition() + { + this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); + } + + //This validation is very basic + internal void ValidateHeight(float heighmapPositionValue) + { + if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue) + { + Matrix m = rigidBody.WorldTransform; + MonoXnaCompactMaths.Vector3 v3 = m.Translation; + v3.Z = heighmapPositionValue; + m.Translation = v3; + rigidBody.WorldTransform = m; + } + } + } + /// + /// PhysicsActor Prim Class for BulletX + /// + public class BulletXPrim : PhysicsActor + { + private PhysicsVector _position; + private PhysicsVector _velocity; + private PhysicsVector _acceleration; + + public BulletXPrim() + { + _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.Math.Quaternion Orientation + { + get + { + Axiom.Math.Quaternion res = new Axiom.Math.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/Region/Physics/Manager/AssemblyInfo.cs b/OpenSim/Region/Physics/Manager/AssemblyInfo.cs index 9415db9..27b467f 100644 --- a/OpenSim/Region/Physics/Manager/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/Manager/AssemblyInfo.cs @@ -1,56 +1,56 @@ -/* -* 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.Reflection; -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.*")] +/* +* 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.Reflection; +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/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs index da3b560..2c2c8dd 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs @@ -1,167 +1,167 @@ -/* -* 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 Axiom.Math; - -namespace OpenSim.Physics.Manager -{ - public delegate void PositionUpdate(PhysicsVector position); - public delegate void VelocityUpdate(PhysicsVector velocity); - public delegate void OrientationUpdate(Quaternion orientation); - - public abstract class PhysicsActor - { - public event PositionUpdate OnPositionUpdate; - public event VelocityUpdate OnVelocityUpdate; - public event OrientationUpdate OnOrientationUpdate; - - 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 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 Quaternion Orientation - { - get - { - return 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; - } - } -} +/* +* 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 Axiom.Math; + +namespace OpenSim.Physics.Manager +{ + public delegate void PositionUpdate(PhysicsVector position); + public delegate void VelocityUpdate(PhysicsVector velocity); + public delegate void OrientationUpdate(Quaternion orientation); + + public abstract class PhysicsActor + { + public event PositionUpdate OnPositionUpdate; + public event VelocityUpdate OnVelocityUpdate; + public event OrientationUpdate OnOrientationUpdate; + + 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 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 Quaternion Orientation + { + get + { + return 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/Region/Physics/Manager/PhysicsManager.cs b/OpenSim/Region/Physics/Manager/PhysicsManager.cs index 265bce6..7c475e7 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsManager.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsManager.cs @@ -1,115 +1,115 @@ -/* -* 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 System.IO; -using System.Reflection; -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 PhysicsScene.Null; - } - - if(_plugins.ContainsKey(engineName)) - { - MainLog.Instance.WriteLine(LogPriority.LOW,"creating "+engineName); - return _plugins[engineName].GetScene(); - } - else - { - MainLog.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(AppDomain.CurrentDomain.BaseDirectory ,"Physics"); - string[] pluginFiles = Directory.GetFiles(path, "*.dll"); - - - for(int i= 0; i + /// Description of MyClass. + /// + public class PhysicsManager + { + private Dictionary _plugins=new Dictionary(); + + public PhysicsManager() + { + + } + + public PhysicsScene GetPhysicsScene(string engineName) + { + if (String.IsNullOrEmpty(engineName)) + { + return PhysicsScene.Null; + } + + if(_plugins.ContainsKey(engineName)) + { + MainLog.Instance.WriteLine(LogPriority.LOW,"creating "+engineName); + return _plugins[engineName].GetScene(); + } + else + { + MainLog.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(AppDomain.CurrentDomain.BaseDirectory ,"Physics"); + string[] pluginFiles = Directory.GetFiles(path, "*.dll"); + + + for(int i= 0; i"; - } - } -} +/* +* 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. +* +*/ +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); + + public override string ToString() + { + return "<" + this.X + "," + this.Y + "," + this.Z + ">"; + } + } +} diff --git a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs index ee10430..662b75a 100644 --- a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs @@ -1,56 +1,56 @@ -/* -* 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.Reflection; -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.*")] +/* +* 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.Reflection; +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/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs index 2780188..486fa9e 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs @@ -1,457 +1,457 @@ -/* -* 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 Axiom.Math; -using Ode.NET; -using OpenSim.Physics.Manager; - -namespace OpenSim.Region.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) - { - 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]; - // 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(); - - Quaternion q1 =Quaternion.FromAngleAxis(1.5707f, new Vector3(1,0,0)); - Quaternion q2 =Quaternion.FromAngleAxis(1.5707f, new Vector3(0,1,0)); - //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1)); - - q1 = q1 * q2; - //q1 = q1 * q3; - Vector3 v3 = new 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 Quaternion Orientation - { - get - { - return 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+1.0f; - } - } - - 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 Quaternion Orientation - { - get - { - Quaternion res = new 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) - { - - } - - - } - -} +/* +* 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 Axiom.Math; +using Ode.NET; +using OpenSim.Physics.Manager; + +namespace OpenSim.Region.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) + { + 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]; + // 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(); + + Quaternion q1 =Quaternion.FromAngleAxis(1.5707f, new Vector3(1,0,0)); + Quaternion q2 =Quaternion.FromAngleAxis(1.5707f, new Vector3(0,1,0)); + //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1)); + + q1 = q1 * q2; + //q1 = q1 * q3; + Vector3 v3 = new 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 Quaternion Orientation + { + get + { + return 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+1.0f; + } + } + + 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 Quaternion Orientation + { + get + { + Quaternion res = new 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/Region/Physics/PhysXPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs index ee10430..662b75a 100644 --- a/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs @@ -1,56 +1,56 @@ -/* -* 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.Reflection; -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.*")] +/* +* 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.Reflection; +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/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs index 4c82549..111d436 100644 --- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs +++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs @@ -1,425 +1,425 @@ -/*/* -* 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 PhysXWrapper; -using Quaternion=Axiom.Math.Quaternion; - -namespace OpenSim.Region.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 Quaternion Orientation - { - get - { - return 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 Quaternion Orientation - { - get - { - Quaternion res = new 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) - { - - } - - - } - -} +/*/* +* 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 PhysXWrapper; +using Quaternion=Axiom.Math.Quaternion; + +namespace OpenSim.Region.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 Quaternion Orientation + { + get + { + return 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 Quaternion Orientation + { + get + { + Quaternion res = new 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