Separate PhysX classes into separate files.
Jeff Ames
parent
2dea162073
commit
300f4c58a6
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@ -0,0 +1,353 @@
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/*
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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 OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using PhysXWrapper;
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using Quaternion=OpenMetaverse.Quaternion;
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using System.Reflection;
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using log4net;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.PhysXPlugin
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{
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public class PhysXCharacter : PhysicsActor
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{
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private Vector3 _position;
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private Vector3 _velocity;
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private Vector3 m_rotationalVelocity = Vector3.Zero;
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private Vector3 _acceleration;
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private NxCharacter _character;
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private bool flying;
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private bool iscolliding = false;
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private float gravityAccel;
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public PhysXCharacter(NxCharacter character)
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{
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_character = character;
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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 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 uint LocalID
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{
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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 float Buoyancy
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{
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get { return 0f; }
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set { return; }
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}
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public override bool FloatOnWater
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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 Vector3 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 Stopped
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{
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get { return false; }
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}
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public override Vector3 Position
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{
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get { return _position; }
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set
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{
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_position = value;
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Vec3 ps = new Vec3();
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ps.X = value.X;
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ps.Y = value.Y;
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ps.Z = value.Z;
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_character.Position = ps;
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}
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}
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public override Vector3 Size
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{
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get { return Vector3.Zero; }
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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 Vector3 Force
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{
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get { return Vector3.Zero; }
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set { return; }
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}
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public override int VehicleType
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{
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get { return 0; }
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set { return; }
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}
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public override void VehicleFloatParam(int param, float value)
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{
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}
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public override void VehicleVectorParam(int param, Vector3 value)
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{
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}
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public override void VehicleRotationParam(int param, Quaternion rotation)
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{
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}
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public override void VehicleFlags(int param, bool remove)
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{
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}
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public override void SetVolumeDetect(int param)
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{
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}
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public override Vector3 CenterOfMass
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{
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get { return Vector3.Zero; }
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}
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public override Vector3 GeometricCenter
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{
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get { return Vector3.Zero; }
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}
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public override Vector3 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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set { }
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}
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public override bool Kinematic
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{
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get { return false; }
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set { }
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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 Vector3 Acceleration
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{
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get { return _acceleration; }
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}
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public void SetAcceleration(Vector3 accel)
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{
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_acceleration = accel;
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}
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public override void AddForce(Vector3 force, bool pushforce)
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{
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}
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public override Vector3 Torque
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{
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get { return Vector3.Zero; }
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set { return; }
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}
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public override void AddAngularForce(Vector3 force, bool pushforce)
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{
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}
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public override void link(PhysicsActor obj)
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{
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}
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public override void delink()
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{
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}
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public override void LockAngularMotion(Vector3 axis)
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{
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}
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public override void SetMomentum(Vector3 momentum)
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{
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}
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public void Move(float timeStep)
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{
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Vec3 vec = new Vec3();
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vec.X = _velocity.X*timeStep;
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vec.Y = _velocity.Y*timeStep;
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if (flying)
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{
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vec.Z = (_velocity.Z)*timeStep;
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}
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else
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{
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gravityAccel += -9.8f;
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vec.Z = (gravityAccel + _velocity.Z)*timeStep;
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}
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int res = _character.Move(vec);
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if (res == 1)
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{
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gravityAccel = 0;
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}
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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 void UpdatePosition()
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{
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Vec3 vec = _character.Position;
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_position.X = vec.X;
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_position.Y = vec.Y;
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_position.Z = vec.Z;
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}
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public override void CrossingFailure()
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{
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}
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public override Vector3 PIDTarget { set { return; } }
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public override bool PIDActive { set { return; } }
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public override float PIDTau { set { return; } }
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public override float PIDHoverHeight { set { return; } }
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public override bool PIDHoverActive { set { return; } }
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public override PIDHoverType PIDHoverType { set { return; } }
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public override float PIDHoverTau { set { return; } }
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public override Quaternion APIDTarget
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{
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set { return; }
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}
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public override bool APIDActive
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{
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set { return; }
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}
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public override float APIDStrength
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{
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set { return; }
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}
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public override float APIDDamping
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{
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set { return; }
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}
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public override void SubscribeEvents(int ms)
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{
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}
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public override void UnSubscribeEvents()
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{
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}
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public override bool SubscribedEvents()
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{
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return false;
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}
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}
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}
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@ -1,4 +1,4 @@
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/*/*
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/*
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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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@ -73,773 +73,4 @@ namespace OpenSim.Region.Physics.PhysXPlugin
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{
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}
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}
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public class PhysXScene : PhysicsScene
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{
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
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private List<PhysXPrim> _prims = new List<PhysXPrim>();
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private float[] _heightMap = null;
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private NxPhysicsSDK mySdk;
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private NxScene scene;
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// protected internal string sceneIdentifier;
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public PhysXScene(string _sceneIdentifier)
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{
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//sceneIdentifier = _sceneIdentifier;
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mySdk = NxPhysicsSDK.CreateSDK();
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m_log.Info("Sdk created - now creating scene");
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scene = mySdk.CreateScene();
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}
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public override void Initialise(IMesher meshmerizer, IConfigSource config)
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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 void SetWaterLevel(float baseheight)
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{
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}
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public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
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{
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Vec3 pos = new Vec3();
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pos.X = position.X;
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pos.Y = position.Y;
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pos.Z = position.Z;
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PhysXCharacter act = new PhysXCharacter(scene.AddCharacter(pos));
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act.Flying = isFlying;
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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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}
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public override void RemoveAvatar(PhysicsActor actor)
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{
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}
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private PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
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{
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Vec3 pos = new Vec3();
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pos.X = position.X;
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pos.Y = position.Y;
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pos.Z = position.Z;
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Vec3 siz = new Vec3();
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siz.X = size.X;
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siz.Y = size.Y;
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siz.Z = size.Z;
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PhysXPrim act = new PhysXPrim(scene.AddNewBox(pos, siz));
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_prims.Add(act);
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return act;
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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) //To be removed
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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, Vector3 position,
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Vector3 size, Quaternion rotation, bool isPhysical)
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{
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return AddPrim(position, size, rotation);
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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 = 0f;
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try
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{
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foreach (PhysXCharacter actor in _characters)
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{
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actor.Move(timeStep);
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}
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scene.Simulate(timeStep);
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scene.FetchResults();
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scene.UpdateControllers();
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foreach (PhysXCharacter actor in _characters)
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{
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actor.UpdatePosition();
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}
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}
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catch (Exception e)
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{
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m_log.Error(e.Message);
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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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if (_heightMap != null)
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{
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m_log.Debug("PhysX - deleting old terrain");
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scene.DeleteTerrain();
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}
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_heightMap = heightMap;
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scene.AddTerrain(heightMap);
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}
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public override void DeleteTerrain()
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{
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scene.DeleteTerrain();
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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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public class PhysXCharacter : PhysicsActor
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{
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private Vector3 _position;
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private Vector3 _velocity;
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private Vector3 m_rotationalVelocity = Vector3.Zero;
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private Vector3 _acceleration;
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private NxCharacter _character;
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private bool flying;
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private bool iscolliding = false;
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private float gravityAccel;
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public PhysXCharacter(NxCharacter character)
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{
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_character = character;
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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 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 uint LocalID
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{
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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 float Buoyancy
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{
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get { return 0f; }
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set { return; }
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}
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public override bool FloatOnWater
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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 Vector3 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 Stopped
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{
|
||||
get { return false; }
|
||||
}
|
||||
|
||||
public override Vector3 Position
|
||||
{
|
||||
get { return _position; }
|
||||
set
|
||||
{
|
||||
_position = value;
|
||||
Vec3 ps = new Vec3();
|
||||
ps.X = value.X;
|
||||
ps.Y = value.Y;
|
||||
ps.Z = value.Z;
|
||||
_character.Position = ps;
|
||||
}
|
||||
}
|
||||
|
||||
public override Vector3 Size
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override float Mass
|
||||
{
|
||||
get { return 0f; }
|
||||
}
|
||||
|
||||
public override Vector3 Force
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override int VehicleType
|
||||
{
|
||||
get { return 0; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override void VehicleFloatParam(int param, float value)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void VehicleVectorParam(int param, Vector3 value)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void VehicleRotationParam(int param, Quaternion rotation)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void VehicleFlags(int param, bool remove) { }
|
||||
|
||||
public override void SetVolumeDetect(int param)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
public override Vector3 CenterOfMass
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
}
|
||||
|
||||
public override Vector3 GeometricCenter
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
}
|
||||
|
||||
public override Vector3 Velocity
|
||||
{
|
||||
get { return _velocity; }
|
||||
set { _velocity = value; }
|
||||
}
|
||||
|
||||
public override float CollisionScore
|
||||
{
|
||||
get { return 0f; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override bool Kinematic
|
||||
{
|
||||
get { return false; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override Quaternion Orientation
|
||||
{
|
||||
get { return Quaternion.Identity; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override Vector3 Acceleration
|
||||
{
|
||||
get { return _acceleration; }
|
||||
}
|
||||
|
||||
public void SetAcceleration(Vector3 accel)
|
||||
{
|
||||
_acceleration = accel;
|
||||
}
|
||||
|
||||
public override void AddForce(Vector3 force, bool pushforce)
|
||||
{
|
||||
}
|
||||
public override Vector3 Torque
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
set { return; }
|
||||
}
|
||||
public override void AddAngularForce(Vector3 force, bool pushforce)
|
||||
{
|
||||
}
|
||||
|
||||
public override void link(PhysicsActor obj)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void delink()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void LockAngularMotion(Vector3 axis)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void SetMomentum(Vector3 momentum)
|
||||
{
|
||||
}
|
||||
|
||||
public void Move(float timeStep)
|
||||
{
|
||||
Vec3 vec = new Vec3();
|
||||
vec.X = _velocity.X*timeStep;
|
||||
vec.Y = _velocity.Y*timeStep;
|
||||
if (flying)
|
||||
{
|
||||
vec.Z = (_velocity.Z)*timeStep;
|
||||
}
|
||||
else
|
||||
{
|
||||
gravityAccel += -9.8f;
|
||||
vec.Z = (gravityAccel + _velocity.Z)*timeStep;
|
||||
}
|
||||
int res = _character.Move(vec);
|
||||
if (res == 1)
|
||||
{
|
||||
gravityAccel = 0;
|
||||
}
|
||||
}
|
||||
|
||||
public override PrimitiveBaseShape Shape
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public void UpdatePosition()
|
||||
{
|
||||
Vec3 vec = _character.Position;
|
||||
_position.X = vec.X;
|
||||
_position.Y = vec.Y;
|
||||
_position.Z = vec.Z;
|
||||
}
|
||||
public override void CrossingFailure()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override Vector3 PIDTarget { set { return; } }
|
||||
public override bool PIDActive { set { return; } }
|
||||
public override float PIDTau { set { return; } }
|
||||
|
||||
public override float PIDHoverHeight { set { return; } }
|
||||
public override bool PIDHoverActive { set { return; } }
|
||||
public override PIDHoverType PIDHoverType { set { return; } }
|
||||
public override float PIDHoverTau { set { return; } }
|
||||
|
||||
public override Quaternion APIDTarget
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool APIDActive
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override float APIDStrength
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override float APIDDamping
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
|
||||
|
||||
public override void SubscribeEvents(int ms)
|
||||
{
|
||||
|
||||
}
|
||||
public override void UnSubscribeEvents()
|
||||
{
|
||||
|
||||
}
|
||||
public override bool SubscribedEvents()
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public class PhysXPrim : PhysicsActor
|
||||
{
|
||||
private Vector3 _velocity;
|
||||
private Vector3 _acceleration;
|
||||
private Vector3 m_rotationalVelocity;
|
||||
private NxActor _prim;
|
||||
|
||||
public PhysXPrim(NxActor prim)
|
||||
{
|
||||
_velocity = Vector3.Zero;
|
||||
_acceleration = Vector3.Zero;
|
||||
_prim = prim;
|
||||
}
|
||||
|
||||
public override int PhysicsActorType
|
||||
{
|
||||
get { return (int) ActorTypes.Prim; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool IsPhysical
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool SetAlwaysRun
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override uint LocalID
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool Grabbed
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool Selected
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override float Buoyancy
|
||||
{
|
||||
get { return 0f; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool FloatOnWater
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool ThrottleUpdates
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override Vector3 RotationalVelocity
|
||||
{
|
||||
get { return m_rotationalVelocity; }
|
||||
set { m_rotationalVelocity = value; }
|
||||
}
|
||||
|
||||
public override bool Flying
|
||||
{
|
||||
get { return false; //no flying prims for you
|
||||
}
|
||||
set { }
|
||||
}
|
||||
|
||||
public override bool IsColliding
|
||||
{
|
||||
get { return false; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override bool CollidingGround
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool CollidingObj
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool Stopped
|
||||
{
|
||||
get { return false; }
|
||||
}
|
||||
|
||||
public override Vector3 Position
|
||||
{
|
||||
get
|
||||
{
|
||||
Vector3 pos = Vector3.Zero;
|
||||
Vec3 vec = _prim.Position;
|
||||
pos.X = vec.X;
|
||||
pos.Y = vec.Y;
|
||||
pos.Z = vec.Z;
|
||||
return pos;
|
||||
}
|
||||
set
|
||||
{
|
||||
Vector3 vec = value;
|
||||
Vec3 pos = new Vec3();
|
||||
pos.X = vec.X;
|
||||
pos.Y = vec.Y;
|
||||
pos.Z = vec.Z;
|
||||
_prim.Position = pos;
|
||||
}
|
||||
}
|
||||
|
||||
public override PrimitiveBaseShape Shape
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override Vector3 Velocity
|
||||
{
|
||||
get { return _velocity; }
|
||||
set { _velocity = value; }
|
||||
}
|
||||
|
||||
public override Vector3 Torque
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override float CollisionScore
|
||||
{
|
||||
get { return 0f; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override bool Kinematic
|
||||
{
|
||||
get { return _prim.Kinematic; }
|
||||
set { _prim.Kinematic = value; }
|
||||
}
|
||||
|
||||
public override Quaternion Orientation
|
||||
{
|
||||
get
|
||||
{
|
||||
Quaternion res;
|
||||
PhysXWrapper.Quaternion quat = _prim.GetOrientation();
|
||||
res.W = quat.W;
|
||||
res.X = quat.X;
|
||||
res.Y = quat.Y;
|
||||
res.Z = quat.Z;
|
||||
return res;
|
||||
}
|
||||
set { }
|
||||
}
|
||||
|
||||
public override Vector3 Acceleration
|
||||
{
|
||||
get { return _acceleration; }
|
||||
}
|
||||
|
||||
public void SetAcceleration(Vector3 accel)
|
||||
{
|
||||
_acceleration = accel;
|
||||
}
|
||||
|
||||
public override void AddForce(Vector3 force, bool pushforce)
|
||||
{
|
||||
}
|
||||
|
||||
public override void AddAngularForce(Vector3 force, bool pushforce)
|
||||
{
|
||||
}
|
||||
|
||||
public override void SetMomentum(Vector3 momentum)
|
||||
{
|
||||
}
|
||||
|
||||
public override Vector3 Size
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override void link(PhysicsActor obj)
|
||||
{
|
||||
}
|
||||
|
||||
public override void delink()
|
||||
{
|
||||
}
|
||||
|
||||
public override void LockAngularMotion(Vector3 axis)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override float Mass
|
||||
{
|
||||
get { return 0f; }
|
||||
}
|
||||
|
||||
public override Vector3 Force
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override int VehicleType
|
||||
{
|
||||
get { return 0; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override void VehicleFloatParam(int param, float value)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void VehicleVectorParam(int param, Vector3 value)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void VehicleRotationParam(int param, Quaternion rotation)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void VehicleFlags(int param, bool remove) { }
|
||||
|
||||
public override void SetVolumeDetect(int param)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override Vector3 CenterOfMass
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
}
|
||||
|
||||
public override Vector3 GeometricCenter
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
}
|
||||
|
||||
public override void CrossingFailure()
|
||||
{
|
||||
}
|
||||
|
||||
public override Vector3 PIDTarget { set { return; } }
|
||||
public override bool PIDActive { set { return; } }
|
||||
public override float PIDTau { set { return; } }
|
||||
|
||||
public override float PIDHoverHeight { set { return; } }
|
||||
public override bool PIDHoverActive { set { return; } }
|
||||
public override PIDHoverType PIDHoverType { set { return; } }
|
||||
public override float PIDHoverTau { set { return; } }
|
||||
|
||||
public override Quaternion APIDTarget
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool APIDActive
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override float APIDStrength
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override float APIDDamping
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
|
||||
|
||||
public override void SubscribeEvents(int ms)
|
||||
{
|
||||
|
||||
}
|
||||
public override void UnSubscribeEvents()
|
||||
{
|
||||
|
||||
}
|
||||
public override bool SubscribedEvents()
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,345 @@
|
|||
/*
|
||||
* Copyright (c) Contributors, http://opensimulator.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 OpenSimulator 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;
|
||||
using System.Collections.Generic;
|
||||
using Nini.Config;
|
||||
using OpenSim.Framework;
|
||||
using OpenSim.Region.Physics.Manager;
|
||||
using PhysXWrapper;
|
||||
using Quaternion=OpenMetaverse.Quaternion;
|
||||
using System.Reflection;
|
||||
using log4net;
|
||||
using OpenMetaverse;
|
||||
|
||||
namespace OpenSim.Region.Physics.PhysXPlugin
|
||||
{
|
||||
public class PhysXPrim : PhysicsActor
|
||||
{
|
||||
private Vector3 _velocity;
|
||||
private Vector3 _acceleration;
|
||||
private Vector3 m_rotationalVelocity;
|
||||
private NxActor _prim;
|
||||
|
||||
public PhysXPrim(NxActor prim)
|
||||
{
|
||||
_velocity = Vector3.Zero;
|
||||
_acceleration = Vector3.Zero;
|
||||
_prim = prim;
|
||||
}
|
||||
|
||||
public override int PhysicsActorType
|
||||
{
|
||||
get { return (int) ActorTypes.Prim; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool IsPhysical
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool SetAlwaysRun
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override uint LocalID
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool Grabbed
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool Selected
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override float Buoyancy
|
||||
{
|
||||
get { return 0f; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool FloatOnWater
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool ThrottleUpdates
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override Vector3 RotationalVelocity
|
||||
{
|
||||
get { return m_rotationalVelocity; }
|
||||
set { m_rotationalVelocity = value; }
|
||||
}
|
||||
|
||||
public override bool Flying
|
||||
{
|
||||
get { return false; //no flying prims for you
|
||||
}
|
||||
set { }
|
||||
}
|
||||
|
||||
public override bool IsColliding
|
||||
{
|
||||
get { return false; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override bool CollidingGround
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool CollidingObj
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool Stopped
|
||||
{
|
||||
get { return false; }
|
||||
}
|
||||
|
||||
public override Vector3 Position
|
||||
{
|
||||
get
|
||||
{
|
||||
Vector3 pos = Vector3.Zero;
|
||||
Vec3 vec = _prim.Position;
|
||||
pos.X = vec.X;
|
||||
pos.Y = vec.Y;
|
||||
pos.Z = vec.Z;
|
||||
return pos;
|
||||
}
|
||||
set
|
||||
{
|
||||
Vector3 vec = value;
|
||||
Vec3 pos = new Vec3();
|
||||
pos.X = vec.X;
|
||||
pos.Y = vec.Y;
|
||||
pos.Z = vec.Z;
|
||||
_prim.Position = pos;
|
||||
}
|
||||
}
|
||||
|
||||
public override PrimitiveBaseShape Shape
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override Vector3 Velocity
|
||||
{
|
||||
get { return _velocity; }
|
||||
set { _velocity = value; }
|
||||
}
|
||||
|
||||
public override Vector3 Torque
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override float CollisionScore
|
||||
{
|
||||
get { return 0f; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override bool Kinematic
|
||||
{
|
||||
get { return _prim.Kinematic; }
|
||||
set { _prim.Kinematic = value; }
|
||||
}
|
||||
|
||||
public override Quaternion Orientation
|
||||
{
|
||||
get
|
||||
{
|
||||
Quaternion res;
|
||||
PhysXWrapper.Quaternion quat = _prim.GetOrientation();
|
||||
res.W = quat.W;
|
||||
res.X = quat.X;
|
||||
res.Y = quat.Y;
|
||||
res.Z = quat.Z;
|
||||
return res;
|
||||
}
|
||||
set { }
|
||||
}
|
||||
|
||||
public override Vector3 Acceleration
|
||||
{
|
||||
get { return _acceleration; }
|
||||
}
|
||||
|
||||
public void SetAcceleration(Vector3 accel)
|
||||
{
|
||||
_acceleration = accel;
|
||||
}
|
||||
|
||||
public override void AddForce(Vector3 force, bool pushforce)
|
||||
{
|
||||
}
|
||||
|
||||
public override void AddAngularForce(Vector3 force, bool pushforce)
|
||||
{
|
||||
}
|
||||
|
||||
public override void SetMomentum(Vector3 momentum)
|
||||
{
|
||||
}
|
||||
|
||||
public override Vector3 Size
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override void link(PhysicsActor obj)
|
||||
{
|
||||
}
|
||||
|
||||
public override void delink()
|
||||
{
|
||||
}
|
||||
|
||||
public override void LockAngularMotion(Vector3 axis)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override float Mass
|
||||
{
|
||||
get { return 0f; }
|
||||
}
|
||||
|
||||
public override Vector3 Force
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override int VehicleType
|
||||
{
|
||||
get { return 0; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override void VehicleFloatParam(int param, float value)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void VehicleVectorParam(int param, Vector3 value)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void VehicleRotationParam(int param, Quaternion rotation)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void VehicleFlags(int param, bool remove) { }
|
||||
|
||||
public override void SetVolumeDetect(int param)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override Vector3 CenterOfMass
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
}
|
||||
|
||||
public override Vector3 GeometricCenter
|
||||
{
|
||||
get { return Vector3.Zero; }
|
||||
}
|
||||
|
||||
public override void CrossingFailure()
|
||||
{
|
||||
}
|
||||
|
||||
public override Vector3 PIDTarget { set { return; } }
|
||||
public override bool PIDActive { set { return; } }
|
||||
public override float PIDTau { set { return; } }
|
||||
|
||||
public override float PIDHoverHeight { set { return; } }
|
||||
public override bool PIDHoverActive { set { return; } }
|
||||
public override PIDHoverType PIDHoverType { set { return; } }
|
||||
public override float PIDHoverTau { set { return; } }
|
||||
|
||||
public override Quaternion APIDTarget
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override bool APIDActive
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override float APIDStrength
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override float APIDDamping
|
||||
{
|
||||
set { return; }
|
||||
}
|
||||
|
||||
|
||||
|
||||
public override void SubscribeEvents(int ms)
|
||||
{
|
||||
|
||||
}
|
||||
public override void UnSubscribeEvents()
|
||||
{
|
||||
|
||||
}
|
||||
public override bool SubscribedEvents()
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,183 @@
|
|||
/*
|
||||
* Copyright (c) Contributors, http://opensimulator.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 OpenSimulator 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;
|
||||
using System.Collections.Generic;
|
||||
using Nini.Config;
|
||||
using OpenSim.Framework;
|
||||
using OpenSim.Region.Physics.Manager;
|
||||
using PhysXWrapper;
|
||||
using Quaternion=OpenMetaverse.Quaternion;
|
||||
using System.Reflection;
|
||||
using log4net;
|
||||
using OpenMetaverse;
|
||||
|
||||
namespace OpenSim.Region.Physics.PhysXPlugin
|
||||
{
|
||||
public class PhysXScene : PhysicsScene
|
||||
{
|
||||
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
|
||||
private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
|
||||
private List<PhysXPrim> _prims = new List<PhysXPrim>();
|
||||
private float[] _heightMap = null;
|
||||
private NxPhysicsSDK mySdk;
|
||||
private NxScene scene;
|
||||
|
||||
// protected internal string sceneIdentifier;
|
||||
public PhysXScene(string _sceneIdentifier)
|
||||
{
|
||||
//sceneIdentifier = _sceneIdentifier;
|
||||
|
||||
mySdk = NxPhysicsSDK.CreateSDK();
|
||||
m_log.Info("Sdk created - now creating scene");
|
||||
scene = mySdk.CreateScene();
|
||||
}
|
||||
|
||||
public override void Initialise(IMesher meshmerizer, IConfigSource config)
|
||||
{
|
||||
// Does nothing right now
|
||||
}
|
||||
public override void Dispose()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override void SetWaterLevel(float baseheight)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
|
||||
{
|
||||
Vec3 pos = new Vec3();
|
||||
pos.X = position.X;
|
||||
pos.Y = position.Y;
|
||||
pos.Z = position.Z;
|
||||
PhysXCharacter act = new PhysXCharacter(scene.AddCharacter(pos));
|
||||
act.Flying = isFlying;
|
||||
act.Position = position;
|
||||
_characters.Add(act);
|
||||
return act;
|
||||
}
|
||||
|
||||
public override void RemovePrim(PhysicsActor prim)
|
||||
{
|
||||
}
|
||||
|
||||
public override void RemoveAvatar(PhysicsActor actor)
|
||||
{
|
||||
}
|
||||
|
||||
private PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
|
||||
{
|
||||
Vec3 pos = new Vec3();
|
||||
pos.X = position.X;
|
||||
pos.Y = position.Y;
|
||||
pos.Z = position.Z;
|
||||
Vec3 siz = new Vec3();
|
||||
siz.X = size.X;
|
||||
siz.Y = size.Y;
|
||||
siz.Z = size.Z;
|
||||
PhysXPrim act = new PhysXPrim(scene.AddNewBox(pos, siz));
|
||||
_prims.Add(act);
|
||||
return act;
|
||||
}
|
||||
|
||||
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
|
||||
Vector3 size, Quaternion rotation) //To be removed
|
||||
{
|
||||
return AddPrimShape(primName, pbs, position, size, rotation, false);
|
||||
}
|
||||
|
||||
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
|
||||
Vector3 size, Quaternion rotation, bool isPhysical)
|
||||
{
|
||||
return AddPrim(position, size, rotation);
|
||||
}
|
||||
|
||||
public override void AddPhysicsActorTaint(PhysicsActor prim)
|
||||
{
|
||||
}
|
||||
|
||||
public override float Simulate(float timeStep)
|
||||
{
|
||||
float fps = 0f;
|
||||
try
|
||||
{
|
||||
foreach (PhysXCharacter actor in _characters)
|
||||
{
|
||||
actor.Move(timeStep);
|
||||
}
|
||||
scene.Simulate(timeStep);
|
||||
scene.FetchResults();
|
||||
scene.UpdateControllers();
|
||||
|
||||
foreach (PhysXCharacter actor in _characters)
|
||||
{
|
||||
actor.UpdatePosition();
|
||||
}
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
m_log.Error(e.Message);
|
||||
}
|
||||
return fps;
|
||||
}
|
||||
|
||||
public override void GetResults()
|
||||
{
|
||||
}
|
||||
|
||||
public override bool IsThreaded
|
||||
{
|
||||
// for now we won't be multithreaded
|
||||
get { return (false); }
|
||||
}
|
||||
|
||||
public override void SetTerrain(float[] heightMap)
|
||||
{
|
||||
if (_heightMap != null)
|
||||
{
|
||||
m_log.Debug("PhysX - deleting old terrain");
|
||||
scene.DeleteTerrain();
|
||||
}
|
||||
_heightMap = heightMap;
|
||||
scene.AddTerrain(heightMap);
|
||||
}
|
||||
|
||||
public override void DeleteTerrain()
|
||||
{
|
||||
scene.DeleteTerrain();
|
||||
}
|
||||
|
||||
public override Dictionary<uint, float> GetTopColliders()
|
||||
{
|
||||
Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
|
||||
return returncolliders;
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue