A example of how the physics plugins might work

src/world/Avatar.cs

@@ -4,6 +4,7 @@ using System.IO;
 using System.Text;
 using libsecondlife;
 using libsecondlife.Packets;
+using PhysicsManager;
 
 namespace OpenSim.world
 {
@@ -12,7 +13,11 @@ namespace OpenSim.world
     	public string firstname;
     	public string lastname;
     	public OpenSimClient ControllingClient;
+    	private PhysicsActor _physActor;
     	private libsecondlife.Packets.ObjectUpdatePacket.ObjectDataBlock AvatarTemplate;
+		private bool updateflag;
+		private bool walking;
+		private List<NewForce> forcesList = new List<NewForce>();
 		
     	public Avatar(OpenSimClient TheClient) {
     		Console.WriteLine("Avatar.cs - Loading details from grid (DUMMY)");
@@ -20,6 +25,39 @@ namespace OpenSim.world
     		SetupTemplate("avatar-template.dat");
     	}
     	
+    	public PhysicsActor PhysActor
+    	{
+    		set
+    		{
+    			this._physActor = value;
+    		}
+    	}
+		public override void addFroces()
+		{
+			if(this.forcesList.Count>0)
+			{
+				for(int i=0 ; i < this.forcesList.Count; i++)
+				{
+					NewForce force = this.forcesList[i];
+					PhysicsVector phyVector = new PhysicsVector(force.X, force.Y, force.Z);
+					this.PhysActor.Velocity = phyVector;
+					this.updateflag = true;
+					this.velocity = new Axiom.MathLib.Vector3(force.X, force.Y, force.Z); //shouldn't really be doing this
+																						  // but as we are setting the velocity (rather than using real forces) at the moment it is okay.
+					
+				}
+			}
+		}
+    	
+    	public override void update()
+    	{
+    		if(this.updateflag)
+    		{
+    			//need to send movement info
+    			//so create the improvedterseobjectupdate packet
+    		}
+    	}
+
     	private void SetupTemplate(string name)
     	{
     		
@@ -113,6 +151,39 @@ namespace OpenSim.world
     		ControllingClient.OutPacket(aw);
     	}
     	
+    	public void HandleUpdate(AgentUpdatePacket pack) {
+           if(((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_AT_POS) !=0) {
+    			if(!walking)
+    			{
+    				//we should add a new force to the list 
+    				// but for now we will deal with velocities
+    				NewFoce newVelocity = new NewForce();
+    				Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(1, 0, 0);
+    				Axiom.MathLib.Quaternion q = new Axiom.MathLib.Quaternion(pack.AgentData.BodyRotation.W, pack.AgentData.BodyRotation.X, pack.AgentData.BodyRotation.Y, pack.AgentData.BodyRotation.Z);
+    				Axiom.MathLib.Vector3 direc = q * v3;
+    				direc.Normalize();
+    				
+    				Axiom.MathLib.Vector3 internDirec = new Vector3(direc.x, direc.y, direc.z);
+    				
+    				//work out velocity for sim physics system
+    				direc = direc * ((0.03f) * 128f);
+    				newVelocity.X = direc.x;
+    				newVelocity.Y = direc.y;
+    				newVelocity.Z = direc.z;
+    				this.forcesList.Add(newVelocity);
+    				walking=true;
+    			}
+    		}
+    		else
+    		{
+    			if(walking)
+    			{
+    				
+    			}
+    		}
+    	}
+    	
+		//should be moved somewhere else
     	public void SendRegionHandshake(World RegionInfo) {
     		Console.WriteLine("Avatar.cs:SendRegionHandshake() - Creating empty RegionHandshake packet");
     		System.Text.Encoding _enc = System.Text.Encoding.ASCII;
@@ -148,4 +219,16 @@ namespace OpenSim.world
     		this.ControllingClient.OutPacket(handshake);
     	}
     }
+    
+    public class NewForce
+    {
+    	public float X;
+    	public float Y;
+    	public float Z;
+    	
+    	public NewForce()
+    	{
+    		
+    	}
+    }
 }

src/world/Entity.cs

@@ -9,9 +9,9 @@ namespace OpenSim.world
     public class Entity
     {
         protected libsecondlife.LLUUID uuid;
-        protected Vector3 position;
+        public Vector3 position;
-        protected Vector3 velocity;
+        public Vector3 velocity;
-        protected Quaternion rotation;
+        public Quaternion rotation;
         protected string name;
         protected List<Entity> children;
 
@@ -24,7 +24,13 @@ namespace OpenSim.world
             name = "(basic entity)";
             children = new List<Entity>();
         }
-
+        public virtual void addFroces()
+        {
+        	foreach (Entity child in children)
+            {
+                child.addFroces();
+            }
+        }
         public virtual void update() {
             // Do any per-frame updates needed that are applicable to every type of entity
             foreach (Entity child in children)

src/world/World.cs

@@ -3,6 +3,7 @@ using libsecondlife;
 using libsecondlife.Packets;
 using System.Collections.Generic;
 using System.Text;
+using PhysicsManager;
 
 namespace OpenSim.world
 {
@@ -13,6 +14,8 @@ namespace OpenSim.world
         public ScriptEngine Scripts;
 	public TerrainDecode terrainengine = new TerrainDecode();
 	public uint _localNumber=0;
+		private PhysicsScene phyScene;
+		private float timeStep= 0.1f;
 	
         private Random Rand = new Random();
 
@@ -33,8 +36,29 @@ namespace OpenSim.world
 		Scripts = new ScriptEngine(this);
         }
         
+		public PhysicsScene PhysScene
+		{
+			set
+			{
+				this.phyScene = value;
+			}
+		}
+		
         public void Update()
         {
+        	if(this.phyScene.IsThreaded)
+        	{
+        		this.phyScene.GetResults();
+        	
+        	}
+        		
+        	foreach (libsecondlife.LLUUID UUID in Entities.Keys)
+            {
+                Entities[UUID].addFroces();
+            }
+   
+        	this.phyScene.Simulate(timeStep);
+        	
             foreach (libsecondlife.LLUUID UUID in Entities.Keys)
             {
                 Entities[UUID].update();
@@ -55,7 +79,9 @@ namespace OpenSim.world
 		this.Entities.Add(AgentClient.AgentID, NewAvatar);
 		Console.WriteLine("World.cs:AddViewerAgent() - Starting RegionHandshake ");
 		NewAvatar.SendRegionHandshake(this);
-		this.Update();		// will work for now, but needs to be optimised so we don't update everything in the sim for each new user
+		
+		NewAvatar.PhysActor = this.phyScene.AddAvatar(new PhysicsVector(NewAvatar.position.x, NewAvatar.position.y, NewAvatar.position.z));
+		//this.Update();		// will work for now, but needs to be optimised so we don't update everything in the sim for each new user
 	}
 
         public bool Backup() {