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https://github.com/opensim/opensim.git
synced 2026-05-15 03:15:41 +08:00
0d5311e49b
Implemented that method in ODE plugin. Hooked it up so when deleting/taking prims into your inventory they will be removed from physics engine. Enabled the other physics hook ups in Scene.cs (and also added registering prims with physics plugin when they are rezzed from Inventory.) So now to get the avatar to prim collision testing working, just change to use the ODE plugin (in the OpenSim.ini file, physics = OpenDynamicsEngine). Remember though ODE only really works (without problems) when running with a single region.
452 lines
8.9 KiB
C#
452 lines
8.9 KiB
C#
/*/*
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* Copyright (c) Contributors, http://www.openmetaverse.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSim Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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using System;
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using System.Collections.Generic;
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using OpenSim.Physics.Manager;
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using PhysXWrapper;
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using Quaternion=Axiom.Math.Quaternion;
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namespace OpenSim.Region.Physics.PhysXPlugin
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{
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/// <summary>
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/// Will be the PhysX plugin but for now will be a very basic physics engine
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/// </summary>
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public class PhysXPlugin : IPhysicsPlugin
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{
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private PhysXScene _mScene;
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public PhysXPlugin()
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{
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}
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public bool Init()
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{
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return true;
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}
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public PhysicsScene GetScene()
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{
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if(_mScene == null)
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{
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_mScene = new PhysXScene();
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}
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return(_mScene);
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}
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public string GetName()
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{
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return("RealPhysX");
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}
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public void Dispose()
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{
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}
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}
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public class PhysXScene :PhysicsScene
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{
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private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
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private List<PhysXPrim> _prims = new List<PhysXPrim>();
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private float[] _heightMap = null;
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private NxPhysicsSDK mySdk;
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private NxScene scene;
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public PhysXScene()
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{
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mySdk = NxPhysicsSDK.CreateSDK();
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Console.WriteLine("Sdk created - now creating scene");
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scene = mySdk.CreateScene();
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}
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public override PhysicsActor AddAvatar(PhysicsVector position)
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{
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Vec3 pos = new Vec3();
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pos.X = position.X;
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pos.Y = position.Y;
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pos.Z = position.Z;
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PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos));
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act.Position = position;
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_characters.Add(act);
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return act;
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}
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public override void RemovePrim(PhysicsActor prim)
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{
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}
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public override void RemoveAvatar(PhysicsActor actor)
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{
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}
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public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
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{
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Vec3 pos = new Vec3();
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pos.X = position.X;
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pos.Y = position.Y;
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pos.Z = position.Z;
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Vec3 siz = new Vec3();
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siz.X = size.X;
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siz.Y = size.Y;
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siz.Z = size.Z;
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PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz));
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_prims.Add(act);
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return act;
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}
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public override void Simulate(float timeStep)
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{
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try
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{
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foreach (PhysXCharacter actor in _characters)
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{
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actor.Move(timeStep);
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}
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scene.Simulate(timeStep);
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scene.FetchResults();
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scene.UpdateControllers();
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foreach (PhysXCharacter actor in _characters)
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{
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actor.UpdatePosition();
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}
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}
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catch (Exception e)
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{
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Console.WriteLine(e.Message);
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}
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}
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public override void GetResults()
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{
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}
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public override bool IsThreaded
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{
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get
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{
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return(false); // for now we won't be multithreaded
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}
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}
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public override void SetTerrain(float[] heightMap)
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{
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if (this._heightMap != null)
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{
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Console.WriteLine("PhysX - deleting old terrain");
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this.scene.DeleteTerrain();
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}
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this._heightMap = heightMap;
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this.scene.AddTerrain(heightMap);
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}
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public override void DeleteTerrain()
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{
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this.scene.DeleteTerrain();
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}
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}
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public class PhysXCharacter : PhysicsActor
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{
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private PhysicsVector _position;
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private PhysicsVector _velocity;
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private PhysicsVector _acceleration;
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private NxCharacter _character;
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private bool flying;
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private float gravityAccel;
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public PhysXCharacter(NxCharacter character)
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{
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_velocity = new PhysicsVector();
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_position = new PhysicsVector();
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_acceleration = new PhysicsVector();
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_character = character;
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}
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public override bool Flying
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{
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get
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{
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return flying;
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}
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set
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{
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flying = value;
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}
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}
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public override PhysicsVector Position
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{
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get
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{
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return _position;
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}
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set
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{
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_position = value;
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Vec3 ps = new Vec3();
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ps.X = value.X;
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ps.Y = value.Y;
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ps.Z = value.Z;
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this._character.Position = ps;
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}
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}
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public override PhysicsVector Size
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{
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get
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{
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return new PhysicsVector(0,0,0);
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}
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set
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{
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}
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}
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public override PhysicsVector Velocity
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{
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get
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{
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return _velocity;
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}
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set
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{
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_velocity = value;
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}
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}
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public override bool Kinematic
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{
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get
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{
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return false;
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}
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set
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{
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}
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}
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public override Quaternion Orientation
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{
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get
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{
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return Quaternion.Identity;
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}
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set
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{
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}
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}
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public override PhysicsVector Acceleration
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{
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get
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{
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return _acceleration;
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}
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}
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public void SetAcceleration (PhysicsVector accel)
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{
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this._acceleration = accel;
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}
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public override void AddForce(PhysicsVector force)
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{
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}
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public override void SetMomentum(PhysicsVector momentum)
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{
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}
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public void Move(float timeStep)
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{
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Vec3 vec = new Vec3();
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vec.X = this._velocity.X * timeStep;
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vec.Y = this._velocity.Y * timeStep;
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if(flying)
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{
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vec.Z = ( this._velocity.Z) * timeStep;
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}
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else
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{
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gravityAccel+= -9.8f;
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vec.Z = (gravityAccel + this._velocity.Z) * timeStep;
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}
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int res = this._character.Move(vec);
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if(res == 1)
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{
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gravityAccel = 0;
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}
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}
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public void UpdatePosition()
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{
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Vec3 vec = this._character.Position;
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this._position.X = vec.X;
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this._position.Y = vec.Y;
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this._position.Z = vec.Z;
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}
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}
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public class PhysXPrim : PhysicsActor
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{
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private PhysicsVector _position;
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private PhysicsVector _velocity;
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private PhysicsVector _acceleration;
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private NxActor _prim;
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public PhysXPrim(NxActor prim)
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{
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_velocity = new PhysicsVector();
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_position = new PhysicsVector();
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_acceleration = new PhysicsVector();
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_prim = prim;
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}
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public override bool Flying
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{
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get
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{
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return false; //no flying prims for you
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}
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set
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{
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}
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}
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public override PhysicsVector Position
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{
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get
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{
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PhysicsVector pos = new PhysicsVector();
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Vec3 vec = this._prim.Position;
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pos.X = vec.X;
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pos.Y = vec.Y;
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pos.Z = vec.Z;
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return pos;
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}
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set
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{
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PhysicsVector vec = value;
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Vec3 pos = new Vec3();
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pos.X = vec.X;
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pos.Y = vec.Y;
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pos.Z = vec.Z;
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this._prim.Position = pos;
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}
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}
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public override PhysicsVector Size
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{
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get
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{
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return new PhysicsVector(0, 0, 0);
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}
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set
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{
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}
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}
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public override PhysicsVector Velocity
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{
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get
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{
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return _velocity;
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}
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set
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{
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_velocity = value;
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}
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}
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public override bool Kinematic
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{
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get
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{
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return this._prim.Kinematic;
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}
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set
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{
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this._prim.Kinematic = value;
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}
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}
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public override Quaternion Orientation
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{
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get
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{
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Quaternion res = new Quaternion();
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PhysXWrapper.Quaternion quat = this._prim.GetOrientation();
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res.w = quat.W;
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res.x = quat.X;
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res.y = quat.Y;
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res.z = quat.Z;
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return res;
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}
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set
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{
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}
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}
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public override PhysicsVector Acceleration
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{
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get
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{
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return _acceleration;
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}
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}
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public void SetAcceleration (PhysicsVector accel)
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{
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this._acceleration = accel;
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}
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public override void AddForce(PhysicsVector force)
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{
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}
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public override void SetMomentum(PhysicsVector momentum)
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{
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}
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}
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}
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