/*/*
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* derived from this software without specific prior written permission.
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
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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, Quaternion rotation)
{
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)
{
}
}
}