diff --git a/OpenSim/Region/Application/Application.cs b/OpenSim/Region/Application/Application.cs
index 0428f5a41c..10beaff218 100644
--- a/OpenSim/Region/Application/Application.cs
+++ b/OpenSim/Region/Application/Application.cs
@@ -71,6 +71,11 @@ namespace OpenSim
physicsEngine = "RealPhysX";
allowFlying = true;
}
+ if (args[i] == "-bulletX")
+ {
+ physicsEngine = "BulletXEngine";
+ allowFlying = true;
+ }
if (args[i] == "-ode")
{
physicsEngine = "OpenDynamicsEngine";
diff --git a/OpenSim/Region/Application/OpenSimMain.cs b/OpenSim/Region/Application/OpenSimMain.cs
index bc9537be7a..48997e2320 100644
--- a/OpenSim/Region/Application/OpenSimMain.cs
+++ b/OpenSim/Region/Application/OpenSimMain.cs
@@ -373,6 +373,11 @@ namespace OpenSim
this.m_physicsEngine = "OpenDynamicsEngine";
ScenePresence.PhysicsEngineFlying = true;
break;
+
+ case "BulletXEngine":
+ this.m_physicsEngine = "BulletXEngine";
+ ScenePresence.PhysicsEngineFlying = true;
+ break;
}
configData.Commit();
diff --git a/OpenSim/Region/Environment/Scenes/Primitive.cs b/OpenSim/Region/Environment/Scenes/Primitive.cs
index 53314e3bf4..ab5037393f 100644
--- a/OpenSim/Region/Environment/Scenes/Primitive.cs
+++ b/OpenSim/Region/Environment/Scenes/Primitive.cs
@@ -174,7 +174,7 @@ namespace OpenSim.Region.Environment.Scenes
dupe.Rotation = new Quaternion(this.Rotation.w, this.Rotation.x, this.Rotation.y, this.Rotation.z);
dupe.Pos = new LLVector3(this.Pos.X, this.Pos.Y, this.Pos.Z);
rootParent.AddChildToList(dupe);
-
+
foreach (Primitive prim in this.children)
{
Primitive primClone = prim.Copy(this, rootParent);
diff --git a/OpenSim/Region/Environment/Scenes/Scene.cs b/OpenSim/Region/Environment/Scenes/Scene.cs
index c8714aea6e..0305b50a6d 100644
--- a/OpenSim/Region/Environment/Scenes/Scene.cs
+++ b/OpenSim/Region/Environment/Scenes/Scene.cs
@@ -453,7 +453,7 @@ namespace OpenSim.Region.Environment.Scenes
}
- protected override void SubscribeToClientEvents(IClientAPI client)
+ protected virtual void SubscribeToClientEvents(IClientAPI client)
{
client.OnRegionHandShakeReply += this.SendLayerData;
//remoteClient.OnRequestWearables += new GenericCall(this.GetInitialPrims);
diff --git a/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs
new file mode 100644
index 0000000000..bda35f7aa5
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs
@@ -0,0 +1,56 @@
+/*
+* Copyright (c) Contributors, http://www.openmetaverse.org/
+* See CONTRIBUTORS.TXT for a full list of copyright holders.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above copyright
+* notice, this list of conditions and the following disclaimer in the
+* documentation and/or other materials provided with the distribution.
+* * Neither the name of the OpenSim Project nor the
+* names of its contributors may be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
+* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+*/
+using System.Reflection;
+using System.Runtime.InteropServices;
+// Information about this assembly is defined by the following
+// attributes.
+//
+// change them to the information which is associated with the assembly
+// you compile.
+
+[assembly: AssemblyTitle("BulletXPlugin")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("BulletXPlugin")]
+[assembly: AssemblyCopyright("")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// This sets the default COM visibility of types in the assembly to invisible.
+// If you need to expose a type to COM, use [ComVisible(true)] on that type.
+[assembly: ComVisible(false)]
+
+// The assembly version has following format :
+//
+// Major.Minor.Build.Revision
+//
+// You can specify all values by your own or you can build default build and revision
+// numbers with the '*' character (the default):
+
+[assembly: AssemblyVersion("1.0.0.0")]
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
new file mode 100644
index 0000000000..1ca5efebec
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -0,0 +1,534 @@
+/*
+* Copyright (c) Contributors, http://www.openmetaverse.org/
+* See CONTRIBUTORS.TXT for a full list of copyright holders.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above copyright
+* notice, this list of conditions and the following disclaimer in the
+* documentation and/or other materials provided with the distribution.
+* * Neither the name of the OpenSim Project nor the
+* names of its contributors may be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
+* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+*/
+#region References
+using System;
+using System.Collections.Generic;
+using OpenSim.Physics.Manager;
+using Axiom.Math;
+//Specific References for BulletXPlugin
+using MonoXnaCompactMaths;
+using XnaDevRu.BulletX;
+using XnaDevRu.BulletX.Dynamics;
+#endregion
+
+namespace OpenSim.Region.Physics.BulletXPlugin
+{
+ ///
+ /// This Class converts objects and types for BulletX
+ ///
+ public class BulletXConversions
+ {
+ public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
+ {
+ return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
+ }
+ public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3)
+ {
+ XnaVector3.X = physicsVector.X;
+ XnaVector3.Y = physicsVector.Y;
+ XnaVector3.Z = physicsVector.Z;
+ }
+ public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3)
+ {
+ return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
+ }
+ /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector)
+ {
+ xnaVector3.X = physicsVector.X;
+ xnaVector3.Y = physicsVector.Y;
+ xnaVector3.Z = physicsVector.Z;
+ }*/
+ #region Axiom and Xna
+ /////
+ ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know
+ /////
+ /////
+ /////
+ //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3)
+ //{
+ // return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z);
+ //}
+ #endregion
+ }
+ ///
+ /// PhysicsPlugin Class for BulletX
+ ///
+ public class BulletXPlugin : IPhysicsPlugin
+ {
+ private BulletXScene _mScene;
+
+ public BulletXPlugin()
+ {
+ }
+ public bool Init()
+ {
+ return true;
+ }
+ public PhysicsScene GetScene()
+ {
+ if (_mScene == null)
+ {
+ _mScene = new BulletXScene();
+ }
+ return (_mScene);
+ }
+ public string GetName()
+ {
+ return ("BulletXEngine");
+ }
+ public void Dispose()
+ {
+ }
+ }
+ ///
+ /// PhysicsScene Class for BulletX
+ ///
+ public class BulletXScene : PhysicsScene
+ {
+ public DiscreteDynamicsWorld ddWorld;
+ private CollisionDispatcher cDispatcher;
+ private OverlappingPairCache opCache;
+ private SequentialImpulseConstraintSolver sicSolver;
+
+ private const int minXY = 0;
+ private const int minZ = 0;
+ private const int maxXY = 256;
+ private const int maxZ = 4096;
+ private const int maxHandles = 32766; //Why? I don't know
+ private static float gravity = 9.8f;
+ private static float heightLevel0 = 77.0f;
+ private static float heightLevel1 = 200.0f;
+ private static float lowGravityFactor = 0.2f;
+
+ private float[] _heightmap;
+ private List _characters = new List();
+
+ public static float Gravity { get { return gravity; } }
+ public static float HeightLevel0 { get { return heightLevel0; } }
+ public static float HeightLevel1 { get { return heightLevel1; } }
+ public static float LowGravityFactor { get { return lowGravityFactor; } }
+
+ public BulletXScene()
+ {
+ cDispatcher = new CollisionDispatcher();
+ MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ);
+ MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ);
+ opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
+ sicSolver = new SequentialImpulseConstraintSolver();
+
+ ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
+ ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);
+
+ this._heightmap = new float[65536];
+ }
+
+ public override PhysicsActor AddAvatar(PhysicsVector position)
+ {
+ PhysicsVector pos = new PhysicsVector();
+ pos.X = position.X;
+ pos.Y = position.Y;
+ pos.Z = position.Z + 20;
+ BulletXCharacter newAv = new BulletXCharacter(this, pos);
+ this._characters.Add(newAv);
+ return newAv;
+ }
+
+ public override void RemoveAvatar(PhysicsActor actor)
+ {
+
+ }
+
+ 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 BulletXPrim();
+ }
+
+ public override void Simulate(float timeStep)
+ {
+ foreach (BulletXCharacter actor in _characters)
+ {
+ actor.Move(timeStep);
+
+ }
+ ddWorld.StepSimulation(timeStep, 0, timeStep);
+ foreach (BulletXCharacter actor in _characters)
+ {
+ actor.ValidateHeight(this._heightmap[
+ (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256
+ + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]);
+ }
+ foreach (BulletXCharacter 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)
+ {
+ //As the same as ODE, heightmap (x,y) must be swapped for BulletX
+ for (int i = 0; i < 65536; i++)
+ {
+ // this._heightmap[i] = (double)heightMap[i];
+ // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
+ int x = i & 0xff;
+ int y = i >> 8;
+ this._heightmap[i] = heightMap[x * 256 + y];
+ }
+ }
+
+ public override void DeleteTerrain()
+ {
+
+ }
+ }
+ ///
+ /// PhysicsActor Character Class for BulletX
+ ///
+ public class BulletXCharacter : PhysicsActor
+ {
+ private PhysicsVector _position;
+ private PhysicsVector _velocity;
+ private PhysicsVector _acceleration;
+ private bool flying;
+ private RigidBody rigidBody;
+ public Axiom.Math.Vector2 RigidBodyHorizontalPosition
+ {
+ get
+ {
+ return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
+ }
+ }
+ public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
+ {
+ _velocity = new PhysicsVector();
+ _position = pos;
+ _acceleration = new PhysicsVector();
+ float _mass = 50.0f; //This depends of avatar's dimensions
+ Matrix _startTransform = Matrix.Identity;
+ _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos);
+ Matrix _centerOfMassOffset = Matrix.Identity;
+ CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f));
+ DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
+ MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
+ _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
+
+ //The next values might change
+ float _linearDamping = 0.0f;
+ float _angularDamping = 0.0f;
+ float _friction = 0.5f;
+ float _restitution = 0.0f;
+
+ rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
+ rigidBody.ActivationState = ActivationState.DisableDeactivation;
+
+ parent_scene.ddWorld.AddRigidBody(rigidBody);
+ }
+
+ 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.Math.Quaternion Orientation
+ {
+ get
+ {
+ return Axiom.Math.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)
+ {
+ MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3();
+ //if (this._velocity.X == 0.0f)
+ // vec.X = this.rigidBody.LinearVelocity.X; //current velocity
+ //else
+ vec.X = this._velocity.X; //overrides current velocity
+
+ //if (this._velocity.Y == 0.0f)
+ // vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity
+ //else
+ vec.Y = this._velocity.Y; //overrides current velocity
+
+ float nextZVelocity;
+ //if (this._velocity.Z == 0.0f)
+ // nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity
+ //else
+ nextZVelocity = this._velocity.Z; //overrides current velocity
+
+ if (flying)
+ {
+ //Antigravity with movement
+ if (this._position.Z <= BulletXScene.HeightLevel0)
+ {
+ vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep;
+ }
+ //Lowgravity with movement
+ else if((this._position.Z > BulletXScene.HeightLevel0)
+ && (this._position.Z <= BulletXScene.HeightLevel1))
+ {
+ vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
+ }
+ //Lowgravity with...
+ else if (this._position.Z > BulletXScene.HeightLevel1)
+ {
+ if(nextZVelocity > 0) //no movement
+ vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
+ else
+ vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
+
+ }
+ }
+ else
+ {
+ vec.Z = nextZVelocity;
+ }
+ rigidBody.LinearVelocity = vec;
+ }
+
+ public void UpdatePosition()
+ {
+ this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
+ }
+
+ //This validation is very basic
+ internal void ValidateHeight(float heighmapPositionValue)
+ {
+ if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue)
+ {
+ Matrix m = rigidBody.WorldTransform;
+ MonoXnaCompactMaths.Vector3 v3 = m.Translation;
+ v3.Z = heighmapPositionValue;
+ m.Translation = v3;
+ rigidBody.WorldTransform = m;
+ }
+ }
+ }
+ ///
+ /// PhysicsActor Prim Class for BulletX
+ ///
+ public class BulletXPrim : PhysicsActor
+ {
+ private PhysicsVector _position;
+ private PhysicsVector _velocity;
+ private PhysicsVector _acceleration;
+
+ public BulletXPrim()
+ {
+ _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.Math.Quaternion Orientation
+ {
+ get
+ {
+ Axiom.Math.Quaternion res = new Axiom.Math.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)
+ {
+
+ }
+ }
+}
diff --git a/bin/Modified.XnaDevRu.BulletX.dll b/bin/Modified.XnaDevRu.BulletX.dll
new file mode 100644
index 0000000000..8de2a5f71a
Binary files /dev/null and b/bin/Modified.XnaDevRu.BulletX.dll differ
diff --git a/bin/MonoXnaCompactMaths.dll b/bin/MonoXnaCompactMaths.dll
new file mode 100644
index 0000000000..a4e345abd8
Binary files /dev/null and b/bin/MonoXnaCompactMaths.dll differ