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Part two of Darok's Bullet physics plugin: added the actual plugin, although haven't added the project to prebuild.xml yet. 

Also might have messed up some of the SVN properties on some of the folders, so if the cleaning lady has to come in again, I just hope she doesn't moan.
afrisby
MW 2007-07-13 17:52:11 +00:00
parent 6d37fe4947
commit 07b0e2df6f
8 changed files with 602 additions and 2 deletions
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5
OpenSim/Region/Application/Application.cs
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@ -71,6 +71,11 @@ namespace OpenSim
physicsEngine = "RealPhysX";
allowFlying = true;
}
if (args[i] == "-bulletX")
{
physicsEngine = "BulletXEngine";
allowFlying = true;
}
if (args[i] == "-ode")
{
physicsEngine = "OpenDynamicsEngine";

5
OpenSim/Region/Application/OpenSimMain.cs
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@ -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();

2
OpenSim/Region/Environment/Scenes/Primitive.cs
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@ -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);

2
OpenSim/Region/Environment/Scenes/Scene.cs
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@ -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);

56
OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs Normal file
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@ -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")]

534
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs Normal file
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@ -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
{
/// <summary>
/// This Class converts objects and types for BulletX
/// </summary>
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
///// <summary>
///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know
///// </summary>
///// <param name="AxiomVector3"></param>
///// <returns></returns>
//public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3)
//{
// return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z);
//}
#endregion
}
/// <summary>
/// PhysicsPlugin Class for BulletX
/// </summary>
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()
{
}
}
/// <summary>
/// PhysicsScene Class for BulletX
/// </summary>
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<BulletXCharacter> _characters = new List<BulletXCharacter>();
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()
{
}
}
/// <summary>
/// PhysicsActor Character Class for BulletX
/// </summary>
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;
}
}
}
/// <summary>
/// PhysicsActor Prim Class for BulletX
/// </summary>
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)
{
}
}
}

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bin/Modified.XnaDevRu.BulletX.dll Normal file
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