From 76394f46a5d0203b7686fb9001796f5394f96f26 Mon Sep 17 00:00:00 2001 From: MW Date: Tue, 4 Sep 2007 18:14:45 +0000 Subject: Part 2 of Darok's BulletX patches. --- .../Region/Physics/BulletXPlugin/BulletXPlugin.cs | 250 ++++++++++----------- 1 file changed, 115 insertions(+), 135 deletions(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs index b38eea0..57a6092 100644 --- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs +++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs @@ -1,9 +1,11 @@ +#region Copyright /* * 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: +* 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 @@ -11,27 +13,33 @@ * 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. +* 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 +* (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 +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF +THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * */ +#endregion #region References using System; using System.Collections.Generic; using OpenSim.Region.Physics.Manager; using Axiom.Math; +using AxiomQuaternion = Axiom.Math.Quaternion; //Specific References for BulletXPlugin -using MonoXnaCompactMaths; +using MonoXnaCompactMaths; //Called as MXCM using XnaDevRu.BulletX; using XnaDevRu.BulletX.Dynamics; #endregion @@ -43,37 +51,24 @@ namespace OpenSim.Region.Physics.BulletXPlugin /// public class BulletXConversions { + //Vector3 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 + //Quaternion + public static MonoXnaCompactMaths.Quaternion AxiomQuaternionToXnaQuaternion(AxiomQuaternion axiomQuaternion) + { + return new MonoXnaCompactMaths.Quaternion(axiomQuaternion.x, axiomQuaternion.y, axiomQuaternion.z, axiomQuaternion.w); + } + public static AxiomQuaternion XnaQuaternionToAxiomQuaternion(MonoXnaCompactMaths.Quaternion xnaQuaternion) + { + return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z); + } } /// /// PhysicsPlugin Class for BulletX @@ -127,6 +122,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin private float[] _heightmap; private List _characters = new List(); + private List _prims = new List(); public static float Gravity { get { return gravity; } } public static float HeightLevel0 { get { return heightLevel0; } } @@ -146,7 +142,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin this._heightmap = new float[65536]; } - public override PhysicsActor AddAvatar(PhysicsVector position) { PhysicsVector pos = new PhysicsVector(); @@ -154,31 +149,26 @@ namespace OpenSim.Region.Physics.BulletXPlugin pos.Y = position.Y; pos.Z = position.Z + 20; BulletXCharacter newAv = new BulletXCharacter(this, pos); - this._characters.Add(newAv); + _characters.Add(newAv); return newAv; } - public override void RemoveAvatar(PhysicsActor actor) { - + if (actor is BulletXCharacter) + { + _characters.Remove((BulletXCharacter)actor); + } } - - public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Axiom.Math.Quaternion rotation) + public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation) { - 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(); + return new BulletXPrim(this, position, size, rotation); } - public override void RemovePrim(PhysicsActor prim) { - throw new Exception("The method or operation is not implemented."); + if (prim is BulletXPrim) + { + _prims.Remove((BulletXPrim)prim); + } } public override void Simulate(float timeStep) { @@ -200,12 +190,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin } } - public override void GetResults() { } - public override bool IsThreaded { get @@ -213,7 +201,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin 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 @@ -226,7 +213,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin this._heightmap[i] = heightMap[x * 256 + y]; } } - public override void DeleteTerrain() { @@ -239,7 +225,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin { private PhysicsVector _position; private PhysicsVector _velocity; + private PhysicsVector _size; private PhysicsVector _acceleration; + private AxiomQuaternion _orientation; private bool flying; private RigidBody rigidBody; public Axiom.Math.Vector2 RigidBodyHorizontalPosition @@ -250,10 +238,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin } } public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos) + : this(parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(), + AxiomQuaternion.Identity) + { + } + public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, + PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation) { - _velocity = new PhysicsVector(); _position = pos; - _acceleration = new PhysicsVector(); + _velocity = velocity; + _size = size; + _acceleration = acceleration; + _orientation = orientation; float _mass = 50.0f; //This depends of avatar's dimensions Matrix _startTransform = Matrix.Identity; _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos); @@ -275,102 +271,91 @@ namespace OpenSim.Region.Physics.BulletXPlugin parent_scene.ddWorld.AddRigidBody(rigidBody); } - - public override bool Flying + public override PhysicsVector Position { get { - return flying; + return _position; } set { - flying = value; + _position = value; } } - - public override PhysicsVector Size + public override PhysicsVector Velocity { get { - throw new Exception("The method or operation is not implemented."); + return _velocity; } set { - throw new Exception("The method or operation is not implemented."); + _velocity = value; } } - - public override PhysicsVector Position + public override PhysicsVector Size { get { - return _position; + return _size; } set { - _position = value; + _size = value; } } - - public override PhysicsVector Velocity + public override PhysicsVector Acceleration { get { - return _velocity; - } - set - { - _velocity = value; + return _acceleration; } } - - public override bool Kinematic + public override AxiomQuaternion Orientation { get { - return false; + return _orientation; } set { - + _orientation = value; } } - - public override Axiom.Math.Quaternion Orientation + public override bool Flying { get { - return Axiom.Math.Quaternion.Identity; + return flying; } set { - + flying = value; } } - - public override PhysicsVector Acceleration + public void SetAcceleration(PhysicsVector accel) + { + _acceleration = accel; + } + public override bool Kinematic { get { - return _acceleration; + return false; } + set + { + } } - 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(); @@ -419,12 +404,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin } rigidBody.LinearVelocity = vec; } - public void UpdatePosition() { this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); } - //This validation is very basic internal void ValidateHeight(float heighmapPositionValue) { @@ -445,104 +428,101 @@ namespace OpenSim.Region.Physics.BulletXPlugin { private PhysicsVector _position; private PhysicsVector _velocity; + private PhysicsVector _size; private PhysicsVector _acceleration; + private AxiomQuaternion _orientation; - public BulletXPrim() + public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation) + : this(parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation) { - _velocity = new PhysicsVector(); - _position = new PhysicsVector(); - _acceleration = new PhysicsVector(); } - public override bool Flying + public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, PhysicsVector size, + PhysicsVector aceleration, AxiomQuaternion rotation) + { + _position = pos; + _velocity = velocity; + _size = size; + _acceleration = aceleration; + _orientation = rotation; + } + public override PhysicsVector Position { get { - return false; //no flying prims for you + return _position; + } set { - + _position = value; } } - public override PhysicsVector Size + public override PhysicsVector Velocity { get { - throw new Exception("The method or operation is not implemented."); + return _velocity; } set { - throw new Exception("The method or operation is not implemented."); + _velocity = value; } } - public override PhysicsVector Position + public override PhysicsVector Size { get { - PhysicsVector pos = new PhysicsVector(); - // PhysicsVector vec = this._prim.Position; - //pos.X = vec.X; - //pos.Y = vec.Y; - //pos.Z = vec.Z; - return pos; - + return _size; } set { - /*PhysicsVector vec = value; - PhysicsVector pos = new PhysicsVector(); - pos.X = vec.X; - pos.Y = vec.Y; - pos.Z = vec.Z; - this._prim.Position = pos;*/ + _size = value; } } - public override PhysicsVector Velocity + public override PhysicsVector Acceleration { get { - return _velocity; - } - set - { - _velocity = value; + return _acceleration; } } - public override bool Kinematic + public override AxiomQuaternion Orientation { get { - return false; - //return this._prim.Kinematic; + return _orientation; } set { - //this._prim.Kinematic = value; + _orientation = value; } } - public override Axiom.Math.Quaternion Orientation + public override bool Flying { get { - Axiom.Math.Quaternion res = new Axiom.Math.Quaternion(); - return res; + return false; //no flying prims for you } set { } } - public override PhysicsVector Acceleration + public void SetAcceleration(PhysicsVector accel) + { + _acceleration = accel; + } + public override bool Kinematic { get { - return _acceleration; + return false; + //return this._prim.Kinematic; + } + set + { + //this._prim.Kinematic = value; } - - } - public void SetAcceleration(PhysicsVector accel) - { - this._acceleration = accel; } public override void AddForce(PhysicsVector force) { -- cgit v1.1