From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- OpenSim/Region/PhysicsModules/POS/POSScene.cs | 323 ++++++++++++++++++++++++++ 1 file changed, 323 insertions(+) create mode 100644 OpenSim/Region/PhysicsModules/POS/POSScene.cs (limited to 'OpenSim/Region/PhysicsModules/POS/POSScene.cs') diff --git a/OpenSim/Region/PhysicsModules/POS/POSScene.cs b/OpenSim/Region/PhysicsModules/POS/POSScene.cs new file mode 100644 index 0000000..6375f18 --- /dev/null +++ b/OpenSim/Region/PhysicsModules/POS/POSScene.cs @@ -0,0 +1,323 @@ +/* + * Copyright (c) Contributors, http://opensimulator.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 OpenSimulator 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 Nini.Config; +using OpenMetaverse; +using Mono.Addins; +using OpenSim.Framework; +using OpenSim.Region.PhysicsModules.SharedBase; +using OpenSim.Region.Framework.Scenes; +using OpenSim.Region.Framework.Interfaces; + +namespace OpenSim.Region.PhysicsModule.POS +{ + [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "POSPhysicsScene")] + public class POSScene : PhysicsScene, INonSharedRegionModule + { + private List _characters = new List(); + private List _prims = new List(); + private float[] _heightMap; + private const float gravity = -9.8f; + + private bool m_Enabled = false; + //protected internal string sceneIdentifier; + + #region INonSharedRegionModule + public string Name + { + get { return "POS"; } + } + + public Type ReplaceableInterface + { + get { return null; } + } + + public void Initialise(IConfigSource source) + { + // TODO: Move this out of Startup + IConfig config = source.Configs["Startup"]; + if (config != null) + { + string physics = config.GetString("physics", string.Empty); + if (physics == Name) + m_Enabled = true; + } + + } + + public void Close() + { + } + + public void AddRegion(Scene scene) + { + if (!m_Enabled) + return; + + EngineType = Name; + PhysicsSceneName = EngineType + "/" + scene.RegionInfo.RegionName; + + scene.RegisterModuleInterface(this); + base.Initialise(scene.PhysicsRequestAsset, + (scene.Heightmap != null ? scene.Heightmap.GetFloatsSerialised() : new float[Constants.RegionSize * Constants.RegionSize]), + (float)scene.RegionInfo.RegionSettings.WaterHeight); + + } + + public void RemoveRegion(Scene scene) + { + if (!m_Enabled) + return; + } + + public void RegionLoaded(Scene scene) + { + if (!m_Enabled) + return; + } + #endregion + + public override void Dispose() + { + } + + public override PhysicsActor AddAvatar( + string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying) + { + POSCharacter act = new POSCharacter(); + act.Position = position; + act.Flying = isFlying; + _characters.Add(act); + return act; + } + + public override void RemovePrim(PhysicsActor prim) + { + POSPrim p = (POSPrim) prim; + if (_prims.Contains(p)) + { + _prims.Remove(p); + } + } + + public override void RemoveAvatar(PhysicsActor character) + { + POSCharacter act = (POSCharacter) character; + if (_characters.Contains(act)) + { + _characters.Remove(act); + } + } + +/* + public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation) + { + return null; + } +*/ + + public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, + Vector3 size, Quaternion rotation, bool isPhysical, uint localid) + { + POSPrim prim = new POSPrim(); + prim.Position = position; + prim.Orientation = rotation; + prim.Size = size; + _prims.Add(prim); + return prim; + } + + private bool isColliding(POSCharacter c, POSPrim p) + { + Vector3 rotatedPos = new Vector3(c.Position.X - p.Position.X, c.Position.Y - p.Position.Y, + c.Position.Z - p.Position.Z) * Quaternion.Inverse(p.Orientation); + Vector3 avatarSize = new Vector3(c.Size.X, c.Size.Y, c.Size.Z) * Quaternion.Inverse(p.Orientation); + + return (Math.Abs(rotatedPos.X) < (p.Size.X*0.5 + Math.Abs(avatarSize.X)) && + Math.Abs(rotatedPos.Y) < (p.Size.Y*0.5 + Math.Abs(avatarSize.Y)) && + Math.Abs(rotatedPos.Z) < (p.Size.Z*0.5 + Math.Abs(avatarSize.Z))); + } + + private bool isCollidingWithPrim(POSCharacter c) + { + foreach (POSPrim p in _prims) + { + if (isColliding(c, p)) + { + return true; + } + } + + return false; + } + + public override void AddPhysicsActorTaint(PhysicsActor prim) + { + } + + public override float Simulate(float timeStep) + { + float fps = 0; + for (int i = 0; i < _characters.Count; ++i) + { + fps++; + POSCharacter character = _characters[i]; + + float oldposX = character.Position.X; + float oldposY = character.Position.Y; + float oldposZ = character.Position.Z; + + if (!character.Flying) + { + character._target_velocity.Z += gravity * timeStep; + } + + Vector3 characterPosition = character.Position; + + characterPosition.X += character._target_velocity.X * timeStep; + characterPosition.Y += character._target_velocity.Y * timeStep; + + characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f); + characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f); + + bool forcedZ = false; + + float terrainheight = _heightMap[(int)character.Position.Y * Constants.RegionSize + (int)character.Position.X]; + if (character.Position.Z + (character._target_velocity.Z * timeStep) < terrainheight + 2) + { + characterPosition.Z = terrainheight + character.Size.Z; + forcedZ = true; + } + else + { + characterPosition.Z += character._target_velocity.Z*timeStep; + } + + /// this is it -- the magic you've all been waiting for! Ladies and gentlemen -- + /// Completely Bogus Collision Detection!!! + /// better known as the CBCD algorithm + + if (isCollidingWithPrim(character)) + { + characterPosition.Z = oldposZ; // first try Z axis + if (isCollidingWithPrim(character)) + { + characterPosition.Z = oldposZ + character.Size.Z / 4.4f; // try harder + if (isCollidingWithPrim(character)) + { + characterPosition.Z = oldposZ + character.Size.Z / 2.2f; // try very hard + if (isCollidingWithPrim(character)) + { + characterPosition.X = oldposX; + characterPosition.Y = oldposY; + characterPosition.Z = oldposZ; + + characterPosition.X += character._target_velocity.X * timeStep; + if (isCollidingWithPrim(character)) + { + characterPosition.X = oldposX; + } + + characterPosition.Y += character._target_velocity.Y * timeStep; + if (isCollidingWithPrim(character)) + { + characterPosition.Y = oldposY; + } + } + else + { + forcedZ = true; + } + } + else + { + forcedZ = true; + } + } + else + { + forcedZ = true; + } + } + + characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f); + characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f); + + character.Position = characterPosition; + + character._velocity.X = (character.Position.X - oldposX)/timeStep; + character._velocity.Y = (character.Position.Y - oldposY)/timeStep; + + if (forcedZ) + { + character._velocity.Z = 0; + character._target_velocity.Z = 0; + ((PhysicsActor)character).IsColliding = true; + character.RequestPhysicsterseUpdate(); + } + else + { + ((PhysicsActor)character).IsColliding = false; + character._velocity.Z = (character.Position.Z - oldposZ)/timeStep; + } + } + return fps; + } + + public override void GetResults() + { + } + + public override bool IsThreaded + { + // for now we won't be multithreaded + get { return (false); } + } + + public override void SetTerrain(float[] heightMap) + { + _heightMap = heightMap; + } + + public override void DeleteTerrain() + { + } + + public override void SetWaterLevel(float baseheight) + { + } + + public override Dictionary GetTopColliders() + { + Dictionary returncolliders = new Dictionary(); + return returncolliders; + } + } +} -- cgit v1.1