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Part 2 of Darok's BulletX patches.

afrisby
MW 2007-09-04 18:14:45 +00:00
parent 725ef022c6
commit 76394f46a5
1 changed files with 148 additions and 168 deletions
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316
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
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@ -1,9 +1,11 @@
#region Copyright
/*
* 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:
* 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
@ -11,27 +13,33 @@
* 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.
* 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
* (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
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#endregion
#region References
using System;
using System.Collections.Generic;
using OpenSim.Region.Physics.Manager;
using Axiom.Math;
using AxiomQuaternion = Axiom.Math.Quaternion;
//Specific References for BulletXPlugin
using MonoXnaCompactMaths;
using MonoXnaCompactMaths; //Called as MXCM
using XnaDevRu.BulletX;
using XnaDevRu.BulletX.Dynamics;
#endregion
@ -43,37 +51,24 @@ namespace OpenSim.Region.Physics.BulletXPlugin
/// </summary>
public class BulletXConversions
{
//Vector3
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)
//Quaternion
public static MonoXnaCompactMaths.Quaternion AxiomQuaternionToXnaQuaternion(AxiomQuaternion axiomQuaternion)
{
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
return new MonoXnaCompactMaths.Quaternion(axiomQuaternion.x, axiomQuaternion.y, axiomQuaternion.z, axiomQuaternion.w);
}
public static AxiomQuaternion XnaQuaternionToAxiomQuaternion(MonoXnaCompactMaths.Quaternion xnaQuaternion)
{
return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z);
}
}
/// <summary>
/// PhysicsPlugin Class for BulletX
@ -127,6 +122,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
private float[] _heightmap;
private List<BulletXCharacter> _characters = new List<BulletXCharacter>();
private List<BulletXPrim> _prims = new List<BulletXPrim>();
public static float Gravity { get { return gravity; } }
public static float HeightLevel0 { get { return heightLevel0; } }
@ -146,7 +142,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin
this._heightmap = new float[65536];
}
public override PhysicsActor AddAvatar(PhysicsVector position)
{
PhysicsVector pos = new PhysicsVector();
@ -154,31 +149,26 @@ namespace OpenSim.Region.Physics.BulletXPlugin
pos.Y = position.Y;
pos.Z = position.Z + 20;
BulletXCharacter newAv = new BulletXCharacter(this, pos);
this._characters.Add(newAv);
_characters.Add(newAv);
return newAv;
}
public override void RemoveAvatar(PhysicsActor actor)
{
if (actor is BulletXCharacter)
{
_characters.Remove((BulletXCharacter)actor);
}
}
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Axiom.Math.Quaternion rotation)
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation)
{
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();
return new BulletXPrim(this, position, size, rotation);
}
public override void RemovePrim(PhysicsActor prim)
{
throw new Exception("The method or operation is not implemented.");
if (prim is BulletXPrim)
{
_prims.Remove((BulletXPrim)prim);
}
}
public override void Simulate(float timeStep)
{
@ -200,12 +190,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
public override void GetResults()
{
}
public override bool IsThreaded
{
get
@ -213,7 +201,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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
@ -226,7 +213,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin
this._heightmap[i] = heightMap[x * 256 + y];
}
}
public override void DeleteTerrain()
{
@ -239,7 +225,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _size;
private PhysicsVector _acceleration;
private AxiomQuaternion _orientation;
private bool flying;
private RigidBody rigidBody;
public Axiom.Math.Vector2 RigidBodyHorizontalPosition
@ -250,10 +238,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
: this(parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
AxiomQuaternion.Identity)
{
}
public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation)
{
_velocity = new PhysicsVector();
_position = pos;
_acceleration = new PhysicsVector();
_velocity = velocity;
_size = size;
_acceleration = acceleration;
_orientation = orientation;
float _mass = 50.0f; //This depends of avatar's dimensions
Matrix _startTransform = Matrix.Identity;
_startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos);
@ -275,31 +271,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin
parent_scene.ddWorld.AddRigidBody(rigidBody);
}
public override bool Flying
{
get
{
return flying;
}
set
{
flying = value;
}
}
public override PhysicsVector Size
{
get
{
throw new Exception("The method or operation is not implemented.");
}
set
{
throw new Exception("The method or operation is not implemented.");
}
}
public override PhysicsVector Position
{
get
@ -311,7 +282,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin
_position = value;
}
}
public override PhysicsVector Velocity
{
get
@ -323,7 +293,50 @@ namespace OpenSim.Region.Physics.BulletXPlugin
_velocity = value;
}
}
public override PhysicsVector Size
{
get
{
return _size;
}
set
{
_size = value;
}
}
public override PhysicsVector Acceleration
{
get
{
return _acceleration;
}
}
public override AxiomQuaternion Orientation
{
get
{
return _orientation;
}
set
{
_orientation = value;
}
}
public override bool Flying
{
get
{
return flying;
}
set
{
flying = value;
}
}
public void SetAcceleration(PhysicsVector accel)
{
_acceleration = accel;
}
public override bool Kinematic
{
get
@ -335,42 +348,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
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();
@ -419,12 +404,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
rigidBody.LinearVelocity = vec;
}
public void UpdatePosition()
{
this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
}
//This validation is very basic
internal void ValidateHeight(float heighmapPositionValue)
{
@ -445,56 +428,33 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _size;
private PhysicsVector _acceleration;
private AxiomQuaternion _orientation;
public BulletXPrim()
public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation)
: this(parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation)
{
_velocity = new PhysicsVector();
_position = new PhysicsVector();
_acceleration = new PhysicsVector();
}
public override bool Flying
public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, PhysicsVector size,
PhysicsVector aceleration, AxiomQuaternion rotation)
{
get
{
return false; //no flying prims for you
}
set
{
}
}
public override PhysicsVector Size
{
get
{
throw new Exception("The method or operation is not implemented.");
}
set
{
throw new Exception("The method or operation is not implemented.");
}
_position = pos;
_velocity = velocity;
_size = size;
_acceleration = aceleration;
_orientation = rotation;
}
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;
return _position;
}
set
{
/*PhysicsVector vec = value;
PhysicsVector pos = new PhysicsVector();
pos.X = vec.X;
pos.Y = vec.Y;
pos.Z = vec.Z;
this._prim.Position = pos;*/
_position = value;
}
}
public override PhysicsVector Velocity
@ -508,6 +468,50 @@ namespace OpenSim.Region.Physics.BulletXPlugin
_velocity = value;
}
}
public override PhysicsVector Size
{
get
{
return _size;
}
set
{
_size = value;
}
}
public override PhysicsVector Acceleration
{
get
{
return _acceleration;
}
}
public override AxiomQuaternion Orientation
{
get
{
return _orientation;
}
set
{
_orientation = value;
}
}
public override bool Flying
{
get
{
return false; //no flying prims for you
}
set
{
}
}
public void SetAcceleration(PhysicsVector accel)
{
_acceleration = accel;
}
public override bool Kinematic
{
get
@ -520,30 +524,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin
//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)
{