OpenSimMirror/OpenSim.Physics/OdePlugin/OdePlugin.cs

/*
* Copyright (c) OpenSim project, http://sim.opensecondlife.org/
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* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``AS IS'' AND ANY
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*/
using System;
using System.Collections.Generic;
using OpenSim.Physics.Manager;
using Ode.NET;

namespace OpenSim.Physics.OdePlugin
{
	/// <summary>
	/// ODE plugin 
	/// </summary>
	public class OdePlugin : IPhysicsPlugin
	{
		private OdeScene _mScene;
			
		public OdePlugin()
		{
			
		}
		
		public bool Init()
		{
			return true;
		}
		
		public PhysicsScene GetScene()
		{
		       if(_mScene == null)
                        {
                                _mScene = new OdeScene();
                        }
                        return(_mScene);
		}
		
		public string GetName()
		{
			return("OpenDynamicsEngine");
		}
		
		public void Dispose()
		{
			
		}
	}
	
	public class OdeScene :PhysicsScene
	{
		static public IntPtr world;
		static public IntPtr space;
		static private IntPtr contactgroup;
		static private IntPtr LandGeom;
		static private IntPtr Land;
		private double[] _heightmap;
		static private d.NearCallback nearCallback = near;
		private List<OdeCharacter> _characters = new List<OdeCharacter>();
		private static d.ContactGeom[] contacts = new d.ContactGeom[500];
                private static d.Contact contact;

		public OdeScene() {
			world = d.WorldCreate();
                        space = d.HashSpaceCreate(IntPtr.Zero);
                        contactgroup = d.JointGroupCreate(0);
			d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
                        d.WorldSetCFM(world, 1e-5f);
                        d.WorldSetAutoDisableFlag(world, false);
			this._heightmap=new double[65536];
		}
		
		// This function blatantly ripped off from BoxStack.cs
		static private void near(IntPtr space, IntPtr g1, IntPtr g2)
                {
                        IntPtr b1 = d.GeomGetBody(g1);
                        IntPtr b2 = d.GeomGetBody(g2);
                        if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
                                return;

                        int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
                        for (int i = 0; i < count; ++i)
                        {
                                contact.geom = contacts[i];
                                IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
                                d.JointAttach(joint, b1, b2);
                        }

		}

		public override PhysicsActor AddAvatar(PhysicsVector position)
		{
			PhysicsVector pos = new PhysicsVector();
			pos.X = position.X;
			pos.Y = position.Y;
			pos.Z = position.Z;
			OdeCharacter newAv= new OdeCharacter(this,pos);
			this._characters.Add(newAv);
			return newAv;
		}
		
		public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
		{
			PhysicsVector pos = new PhysicsVector();
			pos.X = position.X;
			pos.Y = position.Y;
			pos.Z = position.Z;
			PhysicsVector siz = new PhysicsVector();
			siz.X = size.X;
			siz.Y = size.Y;
			siz.Z = size.Z;
			return new OdePrim();
		}
		
		public override void Simulate(float timeStep)
		{
			foreach (OdeCharacter actor in _characters) {
				actor.Move(timeStep*5f);
			}
			d.SpaceCollide(space, IntPtr.Zero, nearCallback);
			d.WorldQuickStep(world, timeStep*5f);
			d.JointGroupEmpty(contactgroup);
			foreach (OdeCharacter actor in _characters)
                        {
                                actor.UpdatePosition();
                        }

		}
		
		public override void GetResults()
		{
		
		}
		
		public override bool IsThreaded
		{
			get
			{
				return(false); // for now we won't be multithreaded
			}
		}
		
		public override void SetTerrain(float[] heightMap)
		{
			for(int i=0; i<65536; i++) {
				this._heightmap[i]=(double)heightMap[i];
			}
			IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
			d.GeomHeightfieldDataBuildDouble(HeightmapData,_heightmap,1,256,256,256,256,1.0f,0.0f,2.0f,0);
			LandGeom=d.CreateHeightfield(space, HeightmapData, 0);
		}
	}
	
	public class OdeCharacter : PhysicsActor
	{
		private PhysicsVector _position;
		private PhysicsVector _velocity;
		private PhysicsVector _acceleration;
		private bool flying;
		private float gravityAccel;
		private IntPtr BoundingCapsule;
		IntPtr capsule_geom;
                d.Mass capsule_mass;
	
		public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
		{
			_velocity = new PhysicsVector();
			_position = pos;
			_acceleration = new PhysicsVector();
			d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
                        capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
			this.BoundingCapsule=d.BodyCreate(OdeScene.world);
			d.BodySetMass(BoundingCapsule, ref capsule_mass);
			d.BodySetPosition(BoundingCapsule,pos.X,pos.Y,pos.Z);
		}
		
		public override bool Flying
		{
			get
			{
				return flying;
			}
			set
			{
				flying = value;
			}
		}
		
		public override PhysicsVector Position
		{
			get
			{
				return _position;
			}
			set
			{
				_position = value;
			}
		}
		
		public override PhysicsVector Velocity
		{
			get
			{
				return _velocity;
			}
			set
			{
				_velocity = value;
			}
		}
		
		public override bool Kinematic
		{
			get
			{
				return false;
			}
			set
			{
				
			}
		}
		
		public override Axiom.MathLib.Quaternion Orientation
		{
			get
			{
				return Axiom.MathLib.Quaternion.Identity;
			}
			set
			{
				
			}
		}
		
		public override PhysicsVector Acceleration
		{
			get
			{
				return _acceleration;
			}
			
		}
		public void SetAcceleration (PhysicsVector accel)
		{
			this._acceleration = accel;
		}
		
		public override void AddForce(PhysicsVector force)
		{
			
		}
		
		public override void SetMomentum(PhysicsVector momentum)
		{
			
		}
		
		public void Move(float timeStep)
		{
			PhysicsVector vec = new PhysicsVector();
			vec.X = this._velocity.X * timeStep;
			vec.Y = this._velocity.Y * timeStep;
			if(flying)
			{
				vec.Z = ( this._velocity.Z+0.5f) * timeStep;
			}
			d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
		}
		
		public void UpdatePosition()
		{
                        d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
                        this._position.X = vec.X;
                        this._position.Y = vec.Y;
                        this._position.Z = vec.Z;
		}
	}
	
	public  class OdePrim : PhysicsActor
	{
		private PhysicsVector _position;
		private PhysicsVector _velocity;
		private PhysicsVector _acceleration;
		
		public OdePrim()
		{
			_velocity = new PhysicsVector();
			_position = new PhysicsVector();
			_acceleration = new PhysicsVector();
		}
		public override bool Flying
		{
			get
			{
				return false; //no flying prims for you
			}
			set
			{
				
			}
		}
		public override PhysicsVector Position
		{
			get
			{
				PhysicsVector pos = new PhysicsVector();
			//	PhysicsVector vec = this._prim.Position;
				//pos.X = vec.X;
				//pos.Y = vec.Y;
				//pos.Z = vec.Z;
				return pos;
				
			}
			set
			{
				/*PhysicsVector vec = value;
				PhysicsVector pos = new PhysicsVector();
				pos.X = vec.X;
				pos.Y = vec.Y;
				pos.Z = vec.Z;
				this._prim.Position = pos;*/
			}
		}
		
		public override PhysicsVector Velocity
		{
			get
			{
				return _velocity;
			}
			set
			{
				_velocity = value;
			}
		}
		
		public override bool Kinematic
		{
			get
			{
				return false;
				//return this._prim.Kinematic;
			}
			set
			{
				//this._prim.Kinematic = value;
			}
		}
		
		public override Axiom.MathLib.Quaternion Orientation
		{
			get
			{
				Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
				return res;
			}
			set
			{
				
			}
		}
		
		public override PhysicsVector Acceleration
		{
			get
			{
				return _acceleration;
			}
			
		}
		public void SetAcceleration (PhysicsVector accel)
		{
			this._acceleration = accel;
		}
		
		public override void AddForce(PhysicsVector force)
		{
			
		}
		
		public override void SetMomentum(PhysicsVector momentum)
		{
			
		}
		
		
	}

}