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*/
using System;
using System.Threading;
using System.Collections.Generic;
using libsecondlife;
using libsecondlife.Utilities;
using Axiom.Math;
using Ode.NET;
using OpenSim.Framework.Types;
using OpenSim.Framework.Console;
using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.OdePlugin
{
/// <summary>
/// ODE plugin
/// </summary>
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()
{
d.bug();
return ("OpenDynamicsEngine");
}
public void Dispose()
{
}
}
public class OdeScene : PhysicsScene
{
private IntPtr contactgroup;
private IntPtr LandGeom;
private double[] _heightmap;
private d.NearCallback nearCallback;
public d.TriCallback triCallback;
public d.TriArrayCallback triArrayCallback;
private List<OdeCharacter> _characters = new List<OdeCharacter>();
private List<OdePrim> _prims = new List<OdePrim>();
public Dictionary<IntPtr, String> geom_name_map=new Dictionary<IntPtr, String>();
private d.ContactGeom[] contacts = new d.ContactGeom[30];
private d.Contact contact;
public IntPtr world;
public IntPtr space;
public static Object OdeLock = new Object();
public OdeScene()
{
nearCallback = near;
triCallback = TriCallback;
triArrayCallback = TriArrayCallback;
contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
contact.surface.mu = 10.0f;
contact.surface.bounce = 0.9f;
contact.surface.soft_erp = 0.005f;
contact.surface.soft_cfm = 0.00003f;
lock (OdeLock)
{
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0);
d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
d.WorldSetAutoDisableFlag(world, false);
d.WorldSetContactSurfaceLayer(world, 0.001f);
}
_heightmap = new double[65536];
}
// This function blatantly ripped off from BoxStack.cs
private void near(IntPtr space, IntPtr g1, IntPtr g2)
{
// no lock here! It's invoked from within Simulate(), which is thread-locked
if (g1 == g2)
return; // Can't collide with yourself
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;
d.GeomClassID id = d.GeomGetClass(g1);
if (id==d.GeomClassID.TriMeshClass)
{
String name1 = null;
String name2 = null;
if (!geom_name_map.TryGetValue(g1, out name1))
{
name1 = "null";
}
if (!geom_name_map.TryGetValue(g2, out name2))
{
name2 = "null";
}
// MainLog.Instance.Verbose("near: A collision was detected between {1} and {2}", 0, name1, name2);
}
int count = d.Collide(g1, g2, contacts.GetLength(0), 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);
}
}
private void collision_optimized()
{
foreach (OdeCharacter chr in _characters)
{
d.SpaceCollide2(space, chr.capsule_geom, IntPtr.Zero, nearCallback);
foreach (OdeCharacter ch2 in _characters) /// should be a separate space -- lots of avatars will be N**2 slow
{
d.SpaceCollide2(chr.capsule_geom, ch2.capsule_geom, IntPtr.Zero, nearCallback);
}
}
}
public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
OdeCharacter newAv = new OdeCharacter(avName, this, pos);
_characters.Add(newAv);
return newAv;
}
public override void RemoveAvatar(PhysicsActor actor)
{
lock (OdeLock)
{
((OdeCharacter)actor).Destroy();
_characters.Remove((OdeCharacter)actor);
}
}
public override void RemovePrim(PhysicsActor prim)
{
if (prim is OdePrim)
{
lock (OdeLock)
{
d.GeomDestroy(((OdePrim)prim).prim_geom);
_prims.Remove((OdePrim)prim);
}
}
}
PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
{
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;
Quaternion rot = new Quaternion();
rot.w = rotation.w;
rot.x = rotation.x;
rot.y = rotation.y;
rot.z = rotation.z;
OdePrim newPrim;
lock (OdeLock)
{
newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs);
}
_prims.Add(newPrim);
return newPrim;
}
public int TriArrayCallback(System.IntPtr trimesh, System.IntPtr refObject, int[] triangleIndex, int triCount)
{
/* String name1 = null;
String name2 = null;
if (!geom_name_map.TryGetValue(trimesh, out name1))
{
name1 = "null";
}
if (!geom_name_map.TryGetValue(refObject, out name2))
{
name2 = "null";
}
MainLog.Instance.Verbose("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
*/
return 1;
}
public int TriCallback(System.IntPtr trimesh, System.IntPtr refObject, int triangleIndex)
{
String name1 = null;
String name2 = null;
if (!geom_name_map.TryGetValue(trimesh, out name1))
{
Console.WriteLine("+++ nulling " + name1);
name1 = "null";
}
if (!geom_name_map.TryGetValue(refObject, out name2))
{
Console.WriteLine("+++ nulling " + name2);
name2 = "null";
}
// MainLog.Instance.Verbose("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
d.Vector3 v0 = new d.Vector3();
d.Vector3 v1 = new d.Vector3();
d.Vector3 v2 = new d.Vector3();
d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
MainLog.Instance.Debug("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
return 1;
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
{
PhysicsActor result;
switch(pbs.ProfileShape)
{
case ProfileShape.Square:
/// support simple box & hollow box now; later, more shapes
if (pbs.ProfileHollow == 0)
{
result = AddPrim(primName, position, size, rotation, null, null);
}
else
{
Mesh mesh = Meshmerizer.CreateMesh(pbs, size);
result = AddPrim(primName, position, size, rotation, mesh, pbs);
}
break;
default:
result = AddPrim(primName, position, size, rotation, null, null);
break;
}
return result;
}
public override void Simulate(float timeStep)
{
lock (OdeLock)
{
foreach (OdePrim p in _prims)
{
}
foreach (OdeCharacter actor in _characters)
{
actor.Move(timeStep);
}
collision_optimized();
for (int i = 0; i < 50; i++)
{
d.WorldQuickStep(world, timeStep * 0.02f);
}
d.JointGroupEmpty(contactgroup);
foreach (OdeCharacter actor in _characters)
{
actor.UpdatePosition();
}
}
}
public override void GetResults()
{
}
public override bool IsThreaded
{
get
{
return (false); // for now we won't be multithreaded
}
}
public override void SetTerrain(float[] heightMap)
{
for (int i = 0; i < 65536; i++)
{
// this._heightmap[i] = (double)heightMap[i];
// dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
int x = i & 0xff;
int y = i >> 8;
_heightmap[i] = (double)heightMap[x * 256 + y];
}
lock (OdeLock)
{
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);
this.geom_name_map[LandGeom]="Terrain";
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 d.Vector3 _zeroPosition;
private bool _zeroFlag=false;
private PhysicsVector _velocity;
private PhysicsVector _acceleration;
private bool flying = false;
//private float gravityAccel;
public IntPtr BoundingCapsule;
private OdeScene _parent_scene;
public IntPtr capsule_geom;
public d.Mass capsule_mass;
public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
{
_velocity = new PhysicsVector();
_position = pos;
_acceleration = new PhysicsVector();
_parent_scene = parent_scene;
lock (OdeScene.OdeLock)
{
d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f);
capsule_geom = d.CreateSphere(parent_scene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble
BoundingCapsule = d.BodyCreate(parent_scene.world);
d.BodySetMass(BoundingCapsule, ref capsule_mass);
d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
d.GeomSetBody(capsule_geom, BoundingCapsule);
}
parent_scene.geom_name_map[capsule_geom]=avName;
}
public override bool Flying
{
get
{
return flying;
}
set
{
flying = value;
}
}
public override PhysicsVector Position
{
get
{
return _position;
}
set
{
lock (OdeScene.OdeLock)
{
d.BodySetPosition(BoundingCapsule, value.X, value.Y, value.Z);
_position = value;
}
}
}
public override PhysicsVector Size
{
get
{
return new PhysicsVector(0,0,0);
}
set
{
}
}
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)
{
_acceleration = accel;
}
public override void AddForce(PhysicsVector force)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}
public void Move(float timeStep)
{
// no lock; for now it's only called from within Simulate()
PhysicsVector vec = new PhysicsVector();
d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule);
// if velocity is zero, use position control; otherwise, velocity control
if (_velocity.X == 0.0f & _velocity.Y == 0.0f & _velocity.Z == 0.0f & !flying)
{
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
_zeroFlag = true;
_zeroPosition = d.BodyGetPosition(BoundingCapsule);
}
d.Vector3 pos = d.BodyGetPosition(BoundingCapsule);
vec.X = (_velocity.X - vel.X) * 75000.0f + (_zeroPosition.X - pos.X) * 120000.0f;
vec.Y = (_velocity.Y - vel.Y) * 75000.0f + (_zeroPosition.Y - pos.Y) * 120000.0f;
}
else
{
_zeroFlag = false;
vec.X = (_velocity.X - vel.X) * 75000.0f;
vec.Y = (_velocity.Y - vel.Y) * 75000.0f;
if (flying)
{
vec.Z = (_velocity.Z - vel.Z) * 75000.0f;
}
}
d.BodyAddForce(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
}
public void UpdatePosition()
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
if (vec.X < 0.0f) vec.X = 0.0f;
if (vec.Y < 0.0f) vec.Y = 0.0f;
if (vec.X > 255.95f) vec.X = 255.95f;
if (vec.Y > 255.95f) vec.Y = 255.95f;
this._position.X = vec.X;
this._position.Y = vec.Y;
this._position.Z = vec.Z;
}
public void Destroy()
{
lock (OdeScene.OdeLock)
{
d.GeomDestroy(this.capsule_geom);
Console.WriteLine("+++ removing geom");
this._parent_scene.geom_name_map.Remove(this.capsule_geom);
d.BodyDestroy(this.BoundingCapsule);
}
}
}
public class OdePrim : PhysicsActor
{
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _size;
private PhysicsVector _acceleration;
private Quaternion _orientation;
private Mesh _mesh;
private PrimitiveBaseShape _pbs;
private OdeScene _parent_scene;
public IntPtr prim_geom;
public IntPtr _triMeshData;
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
{
_velocity = new PhysicsVector();
_position = pos;
_size = size;
_acceleration = new PhysicsVector();
_orientation = rotation;
_mesh = mesh;
_pbs = pbs;
_parent_scene = parent_scene;
lock (OdeScene.OdeLock)
{
if (mesh!=null)
{
setMesh(parent_scene, mesh);
}
else
{
prim_geom = d.CreateBox(parent_scene.space, _size.X, _size.Y, _size.Z);
}
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
myrot.W = rotation.w;
myrot.X = rotation.x;
myrot.Y = rotation.y;
myrot.Z = rotation.z;
d.GeomSetQuaternion(prim_geom, ref myrot);
parent_scene.geom_name_map[prim_geom] = primName; // don't do .add() here; old geoms get recycled with the same hash
}
}
public void setMesh(OdeScene parent_scene, Mesh mesh)
{
float[] vertexList = mesh.getVertexListAsFloat(); // Note, that vertextList is pinned in memory
int[] indexList = mesh.getIndexListAsInt(); // Also pinned, needs release after usage
int VertexCount = vertexList.GetLength(0) / 3;
int IndexCount = indexList.GetLength(0);
_triMeshData = d.GeomTriMeshDataCreate();
d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3 * sizeof(float), VertexCount, indexList, IndexCount, 3 * sizeof(int));
d.GeomTriMeshDataPreprocess(_triMeshData);
prim_geom = d.CreateTriMesh(parent_scene.space, _triMeshData, parent_scene.triCallback, null, null);
}
public override bool Flying
{
get
{
return false; //no flying prims for you
}
set
{
}
}
public override PhysicsVector Position
{
get
{
return _position;
}
set
{
_position = value;
lock (OdeScene.OdeLock)
{
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
}
}
}
public override PhysicsVector Size
{
get
{
return _size;
}
set
{
_size = value;
lock (OdeScene.OdeLock)
{
if (_mesh != null) // We deal with a mesh here
{
string oldname = _parent_scene.geom_name_map[prim_geom];
d.GeomDestroy(prim_geom);
Mesh mesh = Meshmerizer.CreateMesh(_pbs, _size);
setMesh(_parent_scene, mesh);
_parent_scene.geom_name_map[prim_geom] = oldname;
}
else
{
d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
}
}
}
}
public override PhysicsVector Velocity
{
get
{
return _velocity;
}
set
{
_velocity = value;
}
}
public override bool Kinematic
{
get
{
return false;
}
set
{
}
}
public override Quaternion Orientation
{
get
{
return _orientation;
}
set
{
_orientation = value;
lock (OdeScene.OdeLock)
{
d.Quaternion myrot = new d.Quaternion();
myrot.W = _orientation.w;
myrot.X = _orientation.x;
myrot.Y = _orientation.y;
myrot.Z = _orientation.z;
d.GeomSetQuaternion(prim_geom, ref myrot);
}
}
}
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)
{
}
}
}