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e5367d822b
This integrates the OpenSim refactoring to make physics, etc into modules. AVN physics hasn't been moved to new location. Does not compile yet. Merge branch 'osmaster' into mbworknew1
324 lines
11 KiB
C#
324 lines
11 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 OpenSimulator 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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using System;
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using System.Collections.Generic;
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using Nini.Config;
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using OpenMetaverse;
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using Mono.Addins;
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using OpenSim.Framework;
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using OpenSim.Region.PhysicsModules.SharedBase;
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using OpenSim.Region.Framework.Scenes;
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using OpenSim.Region.Framework.Interfaces;
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namespace OpenSim.Region.PhysicsModule.POS
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{
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[Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "POSPhysicsScene")]
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public class POSScene : PhysicsScene, INonSharedRegionModule
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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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private bool m_Enabled = false;
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//protected internal string sceneIdentifier;
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#region INonSharedRegionModule
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public string Name
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{
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get { return "POS"; }
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}
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public Type ReplaceableInterface
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{
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get { return null; }
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}
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public void Initialise(IConfigSource source)
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{
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// TODO: Move this out of Startup
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IConfig config = source.Configs["Startup"];
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if (config != null)
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{
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string physics = config.GetString("physics", string.Empty);
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if (physics == Name)
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m_Enabled = true;
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}
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}
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public void Close()
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{
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}
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public void AddRegion(Scene scene)
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{
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if (!m_Enabled)
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return;
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EngineType = Name;
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PhysicsSceneName = EngineType + "/" + scene.RegionInfo.RegionName;
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scene.RegisterModuleInterface<PhysicsScene>(this);
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base.Initialise(scene.PhysicsRequestAsset,
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(scene.Heightmap != null ? scene.Heightmap.GetFloatsSerialised() : new float[Constants.RegionSize * Constants.RegionSize]),
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(float)scene.RegionInfo.RegionSettings.WaterHeight);
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}
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public void RemoveRegion(Scene scene)
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{
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if (!m_Enabled)
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return;
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}
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public void RegionLoaded(Scene scene)
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{
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if (!m_Enabled)
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return;
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}
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#endregion
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public override void Dispose()
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{
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}
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public override PhysicsActor AddAvatar(
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string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
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{
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POSCharacter act = new POSCharacter();
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act.Position = position;
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act.Flying = isFlying;
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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(Vector3 position, Vector3 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, Vector3 position,
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Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
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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 isColliding(POSCharacter c, POSPrim p)
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{
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Vector3 rotatedPos = new Vector3(c.Position.X - p.Position.X, c.Position.Y - p.Position.Y,
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c.Position.Z - p.Position.Z) * Quaternion.Inverse(p.Orientation);
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Vector3 avatarSize = new Vector3(c.Size.X, c.Size.Y, c.Size.Z) * Quaternion.Inverse(p.Orientation);
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return (Math.Abs(rotatedPos.X) < (p.Size.X*0.5 + Math.Abs(avatarSize.X)) &&
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Math.Abs(rotatedPos.Y) < (p.Size.Y*0.5 + Math.Abs(avatarSize.Y)) &&
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Math.Abs(rotatedPos.Z) < (p.Size.Z*0.5 + Math.Abs(avatarSize.Z)));
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}
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private bool isCollidingWithPrim(POSCharacter c)
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{
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foreach (POSPrim p in _prims)
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{
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if (isColliding(c, p))
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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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Vector3 characterPosition = character.Position;
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characterPosition.X += character._target_velocity.X * timeStep;
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characterPosition.Y += character._target_velocity.Y * timeStep;
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characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
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characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
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bool forcedZ = false;
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float terrainheight = _heightMap[(int)character.Position.Y * Constants.RegionSize + (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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characterPosition.Z = terrainheight + character.Size.Z;
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forcedZ = true;
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}
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else
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{
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characterPosition.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 (isCollidingWithPrim(character))
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{
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characterPosition.Z = oldposZ; // first try Z axis
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if (isCollidingWithPrim(character))
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{
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characterPosition.Z = oldposZ + character.Size.Z / 4.4f; // try harder
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if (isCollidingWithPrim(character))
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{
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characterPosition.Z = oldposZ + character.Size.Z / 2.2f; // try very hard
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if (isCollidingWithPrim(character))
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{
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characterPosition.X = oldposX;
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characterPosition.Y = oldposY;
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characterPosition.Z = oldposZ;
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characterPosition.X += character._target_velocity.X * timeStep;
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if (isCollidingWithPrim(character))
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{
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characterPosition.X = oldposX;
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}
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characterPosition.Y += character._target_velocity.Y * timeStep;
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if (isCollidingWithPrim(character))
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{
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characterPosition.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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else
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{
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forcedZ = true;
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}
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}
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characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
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characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
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character.Position = characterPosition;
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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 1.0f;
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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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// for now we won't be multithreaded
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get { return (false); }
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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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public override void SetWaterLevel(float baseheight)
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{
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}
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public override Dictionary<uint, float> GetTopColliders()
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{
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Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
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return returncolliders;
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}
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}
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}
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