/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
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* modification, are permitted provided that the following conditions are met:
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* 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;
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* 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 System;
using Axiom.Math;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.POSPlugin
{
///
/// for now will be a very POS physics engine
///
public class POSPlugin : IPhysicsPlugin
{
public POSPlugin()
{
}
public bool Init()
{
return true;
}
public PhysicsScene GetScene()
{
return new POSScene();
}
public string GetName()
{
return ("POS");
}
public void Dispose()
{
}
}
public class POSScene : PhysicsScene
{
private List _characters = new List();
private List _prims = new List();
private float[] _heightMap;
private const float gravity = -9.8f;
public POSScene()
{
}
public override void Initialise(IMesher meshmerizer)
{
// Does nothing right now
}
public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
{
POSCharacter act = new POSCharacter();
act.Position = position;
_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(PhysicsVector position, PhysicsVector size, Quaternion rotation)
{
return null;
}
*/
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, Quaternion rotation)
{
return this.AddPrimShape(primName, pbs, position, size, rotation, false);
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, Quaternion rotation, bool isPhysical)
{
POSPrim prim = new POSPrim();
prim.Position = position;
prim.Orientation = rotation;
prim.Size = size;
_prims.Add(prim);
return prim;
}
private bool check_collision(POSCharacter c, POSPrim p)
{
/*
Console.WriteLine("checking whether " + c + " collides with " + p +
" absX: " + Math.Abs(p.Position.X - c.Position.X) +
" sizeX: " + p.Size.X * 0.5 + 0.5);
*/
Vector3 rotatedPos = p.Orientation.Inverse() * new Vector3(c.Position.X - p.Position.X, c.Position.Y - p.Position.Y, c.Position.Z - p.Position.Z);
Vector3 avatarSize = p.Orientation.Inverse() * new Vector3(c.Size.X, c.Size.Y, c.Size.Z);
if (Math.Abs(rotatedPos.x) >= (p.Size.X * 0.5 + Math.Abs(avatarSize.x)))
{
return false;
}
if (Math.Abs(rotatedPos.y) >= (p.Size.Y * 0.5 + Math.Abs(avatarSize.y)))
{
return false;
}
if (Math.Abs(rotatedPos.z) >= (p.Size.Z * 0.5 + Math.Abs(avatarSize.z)))
{
return false;
}
return true;
}
private bool check_all_prims(POSCharacter c)
{
foreach (POSPrim p in _prims)
{
if (check_collision(c, p))
return true;
}
return false;
}
public override void AddPhysicsActorTaint(PhysicsActor prim)
{
}
public override void Simulate(float timeStep)
{
foreach (POSCharacter character in _characters)
{
float oldposX = character.Position.X;
float oldposY = character.Position.Y;
float oldposZ = character.Position.Z;
if (!character.Flying)
{
character._target_velocity.Z += gravity * timeStep;
}
bool forcedZ = false;
character.Position.X = character.Position.X + (character._target_velocity.X * timeStep);
character.Position.Y = character.Position.Y + (character._target_velocity.Y * timeStep);
float terrainheight = _heightMap[(int)character.Position.Y * 256 + (int)character.Position.X];
if (character.Position.Z + (character._target_velocity.Z * timeStep) < terrainheight + 2)
{
character.Position.Z = terrainheight + 1.0f;
forcedZ = true;
}
else
{
character.Position.Z = character.Position.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 (check_all_prims(character))
{
character.Position.Z = oldposZ; // first try Z axis
if (check_all_prims(character))
{
character.Position.Z = oldposZ + 0.4f; // try harder
if (check_all_prims(character))
{
character.Position.X = oldposX;
character.Position.Y = oldposY;
character.Position.Z = oldposZ;
}
else
{
forcedZ = true;
}
}
else
{
forcedZ = true;
}
}
if (character.Position.Y < 0)
{
character.Position.Y = 0.1F;
}
else if (character.Position.Y >= 256)
{
character.Position.Y = 255.9F;
}
if (character.Position.X < 0)
{
character.Position.X = 0.1F;
}
else if (character.Position.X > 256)
{
character.Position.X = 255.9F;
}
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;
character.RequestPhysicsterseUpdate();
}
else
{
character._velocity.Z = (character.Position.Z - oldposZ) / timeStep;
}
}
}
public override void GetResults()
{
}
public override bool IsThreaded
{
get { return (false); // for now we won't be multithreaded
}
}
public override void SetTerrain(float[] heightMap)
{
_heightMap = heightMap;
}
public override void DeleteTerrain()
{
}
}
public class POSCharacter : PhysicsActor
{
private PhysicsVector _position;
public PhysicsVector _velocity;
public PhysicsVector _target_velocity = PhysicsVector.Zero;
private PhysicsVector _acceleration;
private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
private bool flying;
private bool iscolliding;
public POSCharacter()
{
_velocity = new PhysicsVector();
_position = new PhysicsVector();
_acceleration = new PhysicsVector();
}
public override int PhysicsActorType
{
get { return (int)ActorTypes.Agent; }
set { return; }
}
public override PhysicsVector RotationalVelocity
{
get { return m_rotationalVelocity; }
set { m_rotationalVelocity = value; }
}
public override bool SetAlwaysRun
{
get { return false; }
set { return; }
}
public override bool IsPhysical
{
get { return false; }
set { return; }
}
public override bool ThrottleUpdates
{
get { return false; }
set { return; }
}
public override bool Flying
{
get { return flying; }
set { flying = value; }
}
public override bool IsColliding
{
get { return iscolliding; }
set { iscolliding = value; }
}
public override bool CollidingGround
{
get { return false; }
set { return; }
}
public override bool CollidingObj
{
get { return false; }
set { return; }
}
public override PhysicsVector Position
{
get { return _position; }
set { _position = value; }
}
public override PhysicsVector Size
{
get { return new PhysicsVector(0.5f, 0.5f, 1.0f); }
set { }
}
public override PrimitiveBaseShape Shape
{
set
{
return;
}
}
public override PhysicsVector Velocity
{
get { return _velocity; }
set { _target_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)
{
_acceleration = accel;
}
public override void AddForce(PhysicsVector force)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}
}
public class POSPrim : PhysicsActor
{
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _acceleration;
private PhysicsVector _size;
private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
private Quaternion _orientation;
private bool iscolliding;
public POSPrim()
{
_velocity = new PhysicsVector();
_position = new PhysicsVector();
_acceleration = new PhysicsVector();
}
public override int PhysicsActorType
{
get { return (int)ActorTypes.Prim; }
set { return; }
}
public override PhysicsVector RotationalVelocity
{
get { return m_rotationalVelocity; }
set { m_rotationalVelocity = value; }
}
public override bool IsPhysical
{
get { return false; }
set { return; }
}
public override bool ThrottleUpdates
{
get { return false; }
set { return; }
}
public override bool IsColliding
{
get { return iscolliding; }
set { iscolliding = value; }
}
public override bool CollidingGround
{
get { return false; }
set { return; }
}
public override bool CollidingObj
{
get { return false; }
set { return; }
}
public override PhysicsVector Position
{
get { return _position; }
set { _position = value; }
}
public override PhysicsVector Size
{
get { return _size; }
set { _size = value; }
}
public override PrimitiveBaseShape Shape
{
set
{
return;
}
}
public override PhysicsVector Velocity
{
get { return _velocity; }
set { _velocity = value; }
}
public override Quaternion Orientation
{
get { return _orientation; }
set { _orientation = value; }
}
public override PhysicsVector Acceleration
{
get { return _acceleration; }
}
public override bool Kinematic
{
get { return true; }
set { }
}
public void SetAcceleration(PhysicsVector accel)
{
_acceleration = accel;
}
public override void AddForce(PhysicsVector force)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}
public override bool Flying
{
get { return false; }
set { }
}
public override bool SetAlwaysRun
{
get { return false; }
set { return; }
}
}
}