mirror of
https://github.com/opensim/opensim.git
synced 2026-06-06 02:55:47 +08:00
d773ca5147
* Updated the ode.dll for windows with a more reasonable stack space reserve. Linux users will need to type ulimit -s 262144 before starting up OpenSimulator if using Physical Prim to protect against stack collisions. or run the included ./bin/opensim-ode.sh to start up OpenSimulator in ODE mode. * Added internal collision score and am keeping track of 'high usage' prim. * Tweaked collisions some more * Tested up to 460 physical prim in extremely close quarters (which was previously impossible in OpenSim). After 460 in tight quarters, physics slows down enough to make it hard to do any moving, however.. non physics things still work, such as logging on to the simulator, etc.
645 lines
18 KiB
C#
645 lines
18 KiB
C#
/*
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* Copyright (c) Contributors, http://opensimulator.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 Axiom.Math;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.POSPlugin
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{
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/// <summary>
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/// for now will be a very POS physics engine
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/// </summary>
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public class POSPlugin : IPhysicsPlugin
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{
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public POSPlugin()
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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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return new POSScene();
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}
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public string GetName()
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{
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return ("POS");
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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 POSScene : PhysicsScene
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{
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private List<POSCharacter> _characters = new List<POSCharacter>();
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private List<POSPrim> _prims = new List<POSPrim>();
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private float[] _heightMap;
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private const float gravity = -9.8f;
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public POSScene()
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{
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}
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public override void Initialise(IMesher meshmerizer)
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{
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// Does nothing right now
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}
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public override void Dispose()
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{
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}
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public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
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{
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POSCharacter act = new POSCharacter();
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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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POSPrim p = (POSPrim) prim;
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if (_prims.Contains(p))
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{
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_prims.Remove(p);
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}
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}
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public override void RemoveAvatar(PhysicsActor character)
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{
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POSCharacter act = (POSCharacter) character;
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if (_characters.Contains(act))
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{
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_characters.Remove(act);
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}
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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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return null;
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}
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*/
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public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
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PhysicsVector size, Quaternion rotation)
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{
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return AddPrimShape(primName, pbs, position, size, rotation, false);
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}
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public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
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PhysicsVector size, Quaternion rotation, bool isPhysical)
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{
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POSPrim prim = new POSPrim();
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prim.Position = position;
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prim.Orientation = rotation;
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prim.Size = size;
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_prims.Add(prim);
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return prim;
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}
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private bool check_collision(POSCharacter c, POSPrim p)
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{
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/*
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Console.WriteLine("checking whether " + c + " collides with " + p +
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" absX: " + Math.Abs(p.Position.X - c.Position.X) +
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" sizeX: " + p.Size.X * 0.5 + 0.5);
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*/
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Vector3 rotatedPos = p.Orientation.Inverse()*
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new Vector3(c.Position.X - p.Position.X, c.Position.Y - p.Position.Y,
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c.Position.Z - p.Position.Z);
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Vector3 avatarSize = p.Orientation.Inverse()*new Vector3(c.Size.X, c.Size.Y, c.Size.Z);
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if (Math.Abs(rotatedPos.x) >= (p.Size.X*0.5 + Math.Abs(avatarSize.x)))
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{
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return false;
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}
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if (Math.Abs(rotatedPos.y) >= (p.Size.Y*0.5 + Math.Abs(avatarSize.y)))
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{
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return false;
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}
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if (Math.Abs(rotatedPos.z) >= (p.Size.Z*0.5 + Math.Abs(avatarSize.z)))
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{
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return false;
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}
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return true;
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}
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private bool check_all_prims(POSCharacter c)
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{
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for (int i = 0; i < _prims.Count; ++i)
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{
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if (check_collision(c, _prims[i]))
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{
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return true;
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}
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}
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return false;
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}
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public override void AddPhysicsActorTaint(PhysicsActor prim)
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{
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}
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public override float Simulate(float timeStep)
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{
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float fps = 0;
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for (int i = 0; i < _characters.Count; ++i)
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{
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fps++;
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POSCharacter character = _characters[i];
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float oldposX = character.Position.X;
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float oldposY = character.Position.Y;
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float oldposZ = character.Position.Z;
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if (!character.Flying)
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{
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character._target_velocity.Z += gravity*timeStep;
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}
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bool forcedZ = false;
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character.Position.X += character._target_velocity.X*timeStep;
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character.Position.Y += character._target_velocity.Y*timeStep;
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if (character.Position.Y < 0)
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{
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character.Position.Y = 0.1F;
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}
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else if (character.Position.Y >= 256)
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{
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character.Position.Y = 255.9F;
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}
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if (character.Position.X < 0)
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{
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character.Position.X = 0.1F;
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}
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else if (character.Position.X >= 256)
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{
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character.Position.X = 255.9F;
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}
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float terrainheight = _heightMap[(int) character.Position.Y*256 + (int) character.Position.X];
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if (character.Position.Z + (character._target_velocity.Z*timeStep) < terrainheight + 2)
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{
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character.Position.Z = terrainheight + 1.0f;
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forcedZ = true;
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}
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else
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{
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character.Position.Z += character._target_velocity.Z*timeStep;
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}
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/// this is it -- the magic you've all been waiting for! Ladies and gentlemen --
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/// Completely Bogus Collision Detection!!!
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/// better known as the CBCD algorithm
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if (check_all_prims(character))
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{
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character.Position.Z = oldposZ; // first try Z axis
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if (check_all_prims(character))
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{
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character.Position.Z = oldposZ + 0.4f; // try harder
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if (check_all_prims(character))
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{
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character.Position.X = oldposX;
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character.Position.Y = oldposY;
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character.Position.Z = oldposZ;
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character.Position.X = character.Position.X + (character._target_velocity.X*timeStep);
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if (check_all_prims(character))
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{
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character.Position.X = oldposX;
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}
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character.Position.Y = character.Position.Y + (character._target_velocity.Y*timeStep);
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if (check_all_prims(character))
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{
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character.Position.Y = oldposY;
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}
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}
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else
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{
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forcedZ = true;
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}
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}
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else
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{
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forcedZ = true;
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}
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}
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if (character.Position.Y < 0)
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{
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character.Position.Y = 0.1F;
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}
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else if (character.Position.Y >= 256)
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{
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character.Position.Y = 255.9F;
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}
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if (character.Position.X < 0)
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{
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character.Position.X = 0.1F;
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}
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else if (character.Position.X >= 256)
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{
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character.Position.X = 255.9F;
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}
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character._velocity.X = (character.Position.X - oldposX)/timeStep;
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character._velocity.Y = (character.Position.Y - oldposY)/timeStep;
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if (forcedZ)
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{
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character._velocity.Z = 0;
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character._target_velocity.Z = 0;
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((PhysicsActor)character).IsColliding = true;
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character.RequestPhysicsterseUpdate();
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}
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else
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{
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((PhysicsActor)character).IsColliding = false;
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character._velocity.Z = (character.Position.Z - oldposZ)/timeStep;
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}
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}
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return fps;
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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 { 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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_heightMap = heightMap;
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}
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public override void DeleteTerrain()
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{
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}
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}
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public class POSCharacter : PhysicsActor
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{
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private PhysicsVector _position;
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public PhysicsVector _velocity;
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public PhysicsVector _target_velocity = PhysicsVector.Zero;
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private PhysicsVector _acceleration;
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private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
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private bool flying;
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private bool iscolliding;
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public POSCharacter()
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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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}
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public override int PhysicsActorType
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{
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get { return (int) ActorTypes.Agent; }
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set { return; }
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}
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public override PhysicsVector RotationalVelocity
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{
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get { return m_rotationalVelocity; }
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set { m_rotationalVelocity = value; }
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}
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public override bool SetAlwaysRun
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{
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get { return false; }
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set { return; }
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}
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public override bool Grabbed
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{
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set { return; }
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}
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public override bool Selected
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{
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set { return; }
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}
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public override bool IsPhysical
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{
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get { return false; }
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set { return; }
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}
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public override bool ThrottleUpdates
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{
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get { return false; }
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set { return; }
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}
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public override bool Flying
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{
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get { return flying; }
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set { flying = value; }
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}
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public override bool IsColliding
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{
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get { return iscolliding; }
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set { iscolliding = value; }
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}
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public override bool CollidingGround
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{
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get { return false; }
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set { return; }
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}
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public override bool CollidingObj
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{
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get { return false; }
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set { return; }
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}
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public override PhysicsVector Position
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{
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get { return _position; }
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set { _position = value; }
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}
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public override PhysicsVector Size
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{
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get { return new PhysicsVector(0.5f, 0.5f, 1.0f); }
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set { }
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}
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public override float Mass
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{
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get { return 0f; }
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}
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public override PhysicsVector Force
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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set { return; }
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}
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public override PhysicsVector Velocity
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{
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get { return _velocity; }
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set { _target_velocity = value; }
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}
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public override float CollisionScore
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{
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get { return 0f; }
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}
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public override Quaternion Orientation
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{
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get { return Quaternion.Identity; }
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set { }
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}
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public override PhysicsVector Acceleration
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{
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get { return _acceleration; }
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}
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public override bool Kinematic
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{
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get { return true; }
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set { }
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}
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public void SetAcceleration(PhysicsVector accel)
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{
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_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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public class POSPrim : 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 PhysicsVector _size;
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private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
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private Quaternion _orientation;
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private bool iscolliding;
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public POSPrim()
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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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}
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public override int PhysicsActorType
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{
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get { return (int) ActorTypes.Prim; }
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set { return; }
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}
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public override PhysicsVector RotationalVelocity
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{
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get { return m_rotationalVelocity; }
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set { m_rotationalVelocity = value; }
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}
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public override bool IsPhysical
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{
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get { return false; }
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set { return; }
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}
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public override bool ThrottleUpdates
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{
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get { return false; }
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set { return; }
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}
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public override bool IsColliding
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{
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get { return iscolliding; }
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set { iscolliding = value; }
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}
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public override bool CollidingGround
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{
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get { return false; }
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set { return; }
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}
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public override bool CollidingObj
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{
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get { return false; }
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set { return; }
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}
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public override PhysicsVector Position
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{
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get { return _position; }
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set { _position = value; }
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}
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public override PhysicsVector Size
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{
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get { return _size; }
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set { _size = value; }
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}
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public override float Mass
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{
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get { return 0f; }
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}
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public override PhysicsVector Force
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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set { return; }
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}
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public override PhysicsVector Velocity
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{
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get { return _velocity; }
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set { _velocity = value; }
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}
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public override float CollisionScore
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{
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get { return 0f; }
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}
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public override Quaternion Orientation
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{
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get { return _orientation; }
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set { _orientation = value; }
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}
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public override PhysicsVector Acceleration
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{
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get { return _acceleration; }
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}
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public override bool Kinematic
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{
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get { return true; }
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set { }
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}
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public void SetAcceleration(PhysicsVector accel)
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{
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_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 override bool Flying
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{
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get { return false; }
|
|
set { }
|
|
}
|
|
|
|
public override bool SetAlwaysRun
|
|
{
|
|
get { return false; }
|
|
set { return; }
|
|
}
|
|
|
|
public override bool Grabbed
|
|
{
|
|
set { return; }
|
|
}
|
|
|
|
public override bool Selected
|
|
{
|
|
set { return; }
|
|
}
|
|
|
|
}
|
|
} |