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UbitODE plugin initial commit

avinationmerge
UbitUmarov 2012-02-08 15:24:10 +00:00
parent 9c6ba8d18f
commit 815f3af1d7
10 changed files with 11556 additions and 0 deletions
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58
OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs Normal file
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/*
* 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.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("OdePlugin")]
[assembly : AssemblyDescription("Ubit Variation")]
[assembly : AssemblyConfiguration("")]
[assembly : AssemblyCompany("http://opensimulator.org")]
[assembly : AssemblyProduct("OdePlugin")]
[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
[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("0.6.5.*")]

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OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs Normal file
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OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.c_comments Normal file
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/*
* Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
* ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
* ODEPrim.cs contains methods dealing with Prim editing, Prim
* characteristics and Kinetic motion.
* ODEDynamics.cs contains methods dealing with Prim Physical motion
* (dynamics) and the associated settings. Old Linear and angular
* motors for dynamic motion have been replace with MoveLinear()
* and MoveAngular(); 'Physical' is used only to switch ODE dynamic
* simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
* switch between 'VEHICLE' parameter use and general dynamics
* settings use.
*
* 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 System.Reflection;
using System.Runtime.InteropServices;
using log4net;
using OpenMetaverse;
using Ode.NET;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.OdePlugin
{
public class ODEDynamics
{
public Vehicle Type
{
get { return m_type; }
}
public IntPtr Body
{
get { return m_body; }
}
private int frcount = 0; // Used to limit dynamics debug output to
// every 100th frame
// private OdeScene m_parentScene = null;
private IntPtr m_body = IntPtr.Zero;
private IntPtr m_jointGroup = IntPtr.Zero;
private IntPtr m_aMotor = IntPtr.Zero;
// Vehicle properties
private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
// private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
// HOVER_TERRAIN_ONLY
// HOVER_GLOBAL_HEIGHT
// NO_DEFLECTION_UP
// HOVER_WATER_ONLY
// HOVER_UP_ONLY
// LIMIT_MOTOR_UP
// LIMIT_ROLL_ONLY
// Linear properties
private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
private Vector3 m_dir = Vector3.Zero; // velocity applied to body
private Vector3 m_linearFrictionTimescale = Vector3.Zero;
private float m_linearMotorDecayTimescale = 0;
private float m_linearMotorTimescale = 0;
private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
// private bool m_LinearMotorSetLastFrame = false;
// private Vector3 m_linearMotorOffset = Vector3.Zero;
//Angular properties
private Vector3 m_angularMotorDirection = Vector3.Zero;
private Vector3 m_angularMotorDirectionLASTSET = Vector3.Zero;
private Vector3 m_angularFrictionTimescale = Vector3.Zero;
private float m_angularMotorDecayTimescale = 0;
private float m_angularMotorTimescale = 0;
private Vector3 m_lastAngularVelocityVector = Vector3.Zero;
//Deflection properties
// private float m_angularDeflectionEfficiency = 0;
// private float m_angularDeflectionTimescale = 0;
// private float m_linearDeflectionEfficiency = 0;
// private float m_linearDeflectionTimescale = 0;
//Banking properties
// private float m_bankingEfficiency = 0;
// private float m_bankingMix = 0;
// private float m_bankingTimescale = 0;
//Hover and Buoyancy properties
private float m_VhoverHeight = 0f;
private float m_VhoverEfficiency = 0f;
private float m_VhoverTimescale = 0f;
private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
// Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
// KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
// Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
//Attractor properties
private float m_verticalAttractionEfficiency = 0;
private float m_verticalAttractionTimescale = 0;
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{
switch (pParam)
{
case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f;
// m_angularDeflectionEfficiency = pValue;
break;
case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
// m_angularDeflectionTimescale = pValue;
break;
case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_angularMotorDecayTimescale = pValue;
break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_angularMotorTimescale = pValue;
break;
case Vehicle.BANKING_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f;
// m_bankingEfficiency = pValue;
break;
case Vehicle.BANKING_MIX:
if (pValue < 0.01f) pValue = 0.01f;
// m_bankingMix = pValue;
break;
case Vehicle.BANKING_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
// m_bankingTimescale = pValue;
break;
case Vehicle.BUOYANCY:
if (pValue < -1f) pValue = -1f;
if (pValue > 1f) pValue = 1f;
m_VehicleBuoyancy = pValue;
break;
case Vehicle.HOVER_EFFICIENCY:
if (pValue < 0f) pValue = 0f;
if (pValue > 1f) pValue = 1f;
m_VhoverEfficiency = pValue;
break;
case Vehicle.HOVER_HEIGHT:
m_VhoverHeight = pValue;
break;
case Vehicle.HOVER_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_VhoverTimescale = pValue;
break;
case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f;
// m_linearDeflectionEfficiency = pValue;
break;
case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
// m_linearDeflectionTimescale = pValue;
break;
case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_linearMotorDecayTimescale = pValue;
break;
case Vehicle.LINEAR_MOTOR_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_linearMotorTimescale = pValue;
break;
case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
if (pValue < 0.0f) pValue = 0.0f;
if (pValue > 1.0f) pValue = 1.0f;
m_verticalAttractionEfficiency = pValue;
break;
case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_verticalAttractionTimescale = pValue;
break;
// These are vector properties but the engine lets you use a single float value to
// set all of the components to the same value
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
m_angularMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
// m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
break;
}
}//end ProcessFloatVehicleParam
internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue)
{
switch (pParam)
{
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_angularMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
// m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
}
}//end ProcessVectorVehicleParam
internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
{
switch (pParam)
{
case Vehicle.REFERENCE_FRAME:
// m_referenceFrame = pValue;
break;
}
}//end ProcessRotationVehicleParam
internal void ProcessTypeChange(Vehicle pType)
{
Console.WriteLine("ProcessTypeChange to " + pType);
// Set Defaults For Type
m_type = pType;
switch (pType)
{
case Vehicle.TYPE_SLED:
m_linearFrictionTimescale = new Vector3(30, 1, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 1000;
m_linearMotorDecayTimescale = 120;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 1000;
m_angularMotorDecayTimescale = 120;
m_VhoverHeight = 0;
m_VhoverEfficiency = 1;
m_VhoverTimescale = 10;
m_VehicleBuoyancy = 0;
// m_linearDeflectionEfficiency = 1;
// m_linearDeflectionTimescale = 1;
// m_angularDeflectionEfficiency = 1;
// m_angularDeflectionTimescale = 1000;
// m_bankingEfficiency = 0;
// m_bankingMix = 1;
// m_bankingTimescale = 10;
// m_referenceFrame = Quaternion.Identity;
m_flags &=
~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
break;
case Vehicle.TYPE_CAR:
m_linearFrictionTimescale = new Vector3(100, 2, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 1;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 1;
m_angularMotorDecayTimescale = 0.8f;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0;
m_VhoverTimescale = 1000;
m_VehicleBuoyancy = 0;
// // m_linearDeflectionEfficiency = 1;
// // m_linearDeflectionTimescale = 2;
// // m_angularDeflectionEfficiency = 0;
// m_angularDeflectionTimescale = 10;
m_verticalAttractionEfficiency = 1;
m_verticalAttractionTimescale = 10;
// m_bankingEfficiency = -0.2f;
// m_bankingMix = 1;
// m_bankingTimescale = 1;
// m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
VehicleFlag.LIMIT_MOTOR_UP);
break;
case Vehicle.TYPE_BOAT:
m_linearFrictionTimescale = new Vector3(10, 3, 2);
m_angularFrictionTimescale = new Vector3(10,10,10);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 4;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 2;
m_VehicleBuoyancy = 1;
// m_linearDeflectionEfficiency = 0.5f;
// m_linearDeflectionTimescale = 3;
// m_angularDeflectionEfficiency = 0.5f;
// m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 0.5f;
m_verticalAttractionTimescale = 5;
// m_bankingEfficiency = -0.3f;
// m_bankingMix = 0.8f;
// m_bankingTimescale = 1;
// m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
VehicleFlag.LIMIT_MOTOR_UP);
break;
case Vehicle.TYPE_AIRPLANE:
m_linearFrictionTimescale = new Vector3(200, 10, 5);
m_angularFrictionTimescale = new Vector3(20, 20, 20);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 2;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 4;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 1000;
m_VehicleBuoyancy = 0;
// m_linearDeflectionEfficiency = 0.5f;
// m_linearDeflectionTimescale = 3;
// m_angularDeflectionEfficiency = 1;
// m_angularDeflectionTimescale = 2;
m_verticalAttractionEfficiency = 0.9f;
m_verticalAttractionTimescale = 2;
// m_bankingEfficiency = 1;
// m_bankingMix = 0.7f;
// m_bankingTimescale = 2;
// m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
break;
case Vehicle.TYPE_BALLOON:
m_linearFrictionTimescale = new Vector3(5, 5, 5);
m_angularFrictionTimescale = new Vector3(10, 10, 10);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 6;
m_angularMotorDecayTimescale = 10;
m_VhoverHeight = 5;
m_VhoverEfficiency = 0.8f;
m_VhoverTimescale = 10;
m_VehicleBuoyancy = 1;
// m_linearDeflectionEfficiency = 0;
// m_linearDeflectionTimescale = 5;
// m_angularDeflectionEfficiency = 0;
// m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 1;
m_verticalAttractionTimescale = 1000;
// m_bankingEfficiency = 0;
// m_bankingMix = 0.7f;
// m_bankingTimescale = 5;
// m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
break;
}
}//end SetDefaultsForType
internal void Enable(IntPtr pBody, OdeScene pParentScene)
{
//Console.WriteLine("Enable m_type=" + m_type + " m_VehicleBuoyancy=" + m_VehicleBuoyancy);
if (m_type == Vehicle.TYPE_NONE)
return;
m_body = pBody;
//KF: This used to set up the linear and angular joints
}
internal void Step(float pTimestep, OdeScene pParentScene)
{
if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
return;
frcount++; // used to limit debug comment output
if (frcount > 100)
frcount = 0;
MoveLinear(pTimestep, pParentScene);
MoveAngular(pTimestep);
}// end Step
private void MoveLinear(float pTimestep, OdeScene _pParentScene)
{
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
{
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
// add drive to body
Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector?
// This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity?
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
// decay applied velocity
Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
//Console.WriteLine("decay: " + decayfraction);
m_linearMotorDirection -= m_linearMotorDirection * decayfraction;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
else
{ // requested is not significant
// if what remains of applied is small, zero it.
if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
m_lastLinearVelocityVector = Vector3.Zero;
}
// convert requested object velocity to world-referenced vector
m_dir = m_lastLinearVelocityVector;
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
m_dir *= rotq; // apply obj rotation to velocity vector
// add Gravity andBuoyancy
// KF: So far I have found no good method to combine a script-requested
// .Z velocity and gravity. Therefore only 0g will used script-requested
// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
Vector3 grav = Vector3.Zero;
if(m_VehicleBuoyancy < 1.0f)
{
// There is some gravity, make a gravity force vector
// that is applied after object velocity.
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
// Preserve the current Z velocity
d.Vector3 vel_now = d.BodyGetLinearVel(Body);
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
} // else its 1.0, no gravity.
// Check if hovering
if( (m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
{
// We should hover, get the target height
d.Vector3 pos = d.BodyGetPosition(Body);
if((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
{
m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
}
else if((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
{
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
}
else if((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
{
m_VhoverTargetHeight = m_VhoverHeight;
}
if((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
{
// If body is aready heigher, use its height as target height
if(pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
}
// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
// m_VhoverTimescale = 0f; // time to acheive height
// pTimestep is time since last frame,in secs
float herr0 = pos.Z - m_VhoverTargetHeight;
//if(frcount == 0) Console.WriteLine("herr0=" + herr0);
// Replace Vertical speed with correction figure if significant
if(Math.Abs(herr0) > 0.01f )
{
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
m_dir.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
// m_VhoverEfficiency is not yet implemented
}
else
{
m_dir.Z = 0f;
}
}
// Apply velocity
d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
//if(frcount == 0) Console.WriteLine("Move " + Body + ":"+ m_dir.X + " " + m_dir.Y + " " + m_dir.Z);
// apply gravity force
d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
//if(frcount == 0) Console.WriteLine("Force " + Body + ":" + grav.X + " " + grav.Y + " " + grav.Z);
// apply friction
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
} // end MoveLinear()
private void MoveAngular(float pTimestep)
{
// m_angularMotorDirection is the latest value from the script, and is decayed here
// m_angularMotorDirectionLASTSET is the latest value from the script
// m_lastAngularVelocityVector is what is being applied to the Body, varied up and down here
if (!m_angularMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
{
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
// ramp up to new value
Vector3 addAmount = m_angularMotorDirection / (m_angularMotorTimescale / pTimestep);
m_lastAngularVelocityVector += (addAmount * 10f);
//if(frcount == 0) Console.WriteLine("add: " + addAmount);
// limit applied value to what was set by script
// This will work temporarily, but we really need to compare speed on an axis
if (Math.Abs(m_lastAngularVelocityVector.X) > Math.Abs(m_angularMotorDirectionLASTSET.X))
m_lastAngularVelocityVector.X = m_angularMotorDirectionLASTSET.X;
if (Math.Abs(m_lastAngularVelocityVector.Y) > Math.Abs(m_angularMotorDirectionLASTSET.Y))
m_lastAngularVelocityVector.Y = m_angularMotorDirectionLASTSET.Y;
if (Math.Abs(m_lastAngularVelocityVector.Z) > Math.Abs(m_angularMotorDirectionLASTSET.Z))
m_lastAngularVelocityVector.Z = m_angularMotorDirectionLASTSET.Z;
// decay the requested value
Vector3 decayfraction = ((Vector3.One / (m_angularMotorDecayTimescale / pTimestep)));
//Console.WriteLine("decay: " + decayfraction);
m_angularMotorDirection -= m_angularMotorDirection * decayfraction;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
// KF: m_lastAngularVelocityVector is rotational speed in rad/sec ?
// Vertical attractor section
// d.Mass objMass;
// d.BodyGetMass(Body, out objMass);
// float servo = 100f * objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep);
float servo = 0.1f * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep);
// get present body rotation
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
// make a vector pointing up
Vector3 verterr = Vector3.Zero;
verterr.Z = 1.0f;
// rotate it to Body Angle
verterr = verterr * rotq;
// verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
// As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
// negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
if (verterr.Z < 0.0f)
{
verterr.X = 2.0f - verterr.X;
verterr.Y = 2.0f - verterr.Y;
}
// Error is 0 (no error) to +/- 2 (max error)
// scale it by servo
verterr = verterr * servo;
// rotate to object frame
// verterr = verterr * rotq;
// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
// Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
m_lastAngularVelocityVector.X += verterr.Y;
m_lastAngularVelocityVector.Y -= verterr.X;
/*
if(frcount == 0)
{
// Console.WriteLine("AngleMotor " + m_lastAngularVelocityVector);
Console.WriteLine(String.Format("VA Body:{0} servo:{1} err:<{2},{3},{4}> VAE:{5}",
Body, servo, verterr.X, verterr.Y, verterr.Z, m_verticalAttractionEfficiency));
}
*/
d.BodySetAngularVel (Body, m_lastAngularVelocityVector.X, m_lastAngularVelocityVector.Y, m_lastAngularVelocityVector.Z);
// apply friction
Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
m_lastAngularVelocityVector -= m_lastAngularVelocityVector * decayamount;
} //end MoveAngular
}
}

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/*
* 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 System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using OpenMetaverse;
using OpenSim.Region.Physics.Manager;
using OdeAPI;
using log4net;
namespace OpenSim.Region.Physics.OdePlugin
{
/// <summary>
/// Processes raycast requests as ODE is in a state to be able to do them.
/// This ensures that it's thread safe and there will be no conflicts.
/// Requests get returned by a different thread then they were requested by.
/// </summary>
public class ODERayCastRequestManager
{
/// <summary>
/// Pending ray requests
/// </summary>
protected OpenSim.Framework.LocklessQueue<ODERayRequest> m_PendingRequests = new OpenSim.Framework.LocklessQueue<ODERayRequest>();
/// <summary>
/// Scene that created this object.
/// </summary>
private OdeScene m_scene;
IntPtr ray;
private const int ColisionContactGeomsPerTest = 5;
/// <summary>
/// ODE near callback delegate
/// </summary>
private d.NearCallback nearCallback;
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private List<ContactResult> m_contactResults = new List<ContactResult>();
public ODERayCastRequestManager(OdeScene pScene)
{
m_scene = pScene;
nearCallback = near;
ray = d.CreateRay(IntPtr.Zero, 1.0f);
}
/// <summary>
/// Queues a raycast
/// </summary>
/// <param name="position">Origin of Ray</param>
/// <param name="direction">Ray normal</param>
/// <param name="length">Ray length</param>
/// <param name="retMethod">Return method to send the results</param>
public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.Count = 0;
req.length = length;
req.Normal = direction;
req.Origin = position;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RayCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = 0;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.Count = 0;
req.length = length;
req.Normal = direction;
req.Origin = position;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = 0;
m_PendingRequests.Enqueue(req);
}
/// <summary>
/// Queues a raycast
/// </summary>
/// <param name="position">Origin of Ray</param>
/// <param name="direction">Ray normal</param>
/// <param name="length">Ray length</param>
/// <param name="count"></param>
/// <param name="retMethod">Return method to send the results</param>
public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
m_PendingRequests.Enqueue(req);
}
/// <summary>
/// Process all queued raycast requests
/// </summary>
/// <returns>Time in MS the raycasts took to process.</returns>
public int ProcessQueuedRequests()
{
int time = System.Environment.TickCount;
if (m_PendingRequests.Count <= 0)
return 0;
if (m_scene.ContactgeomsArray == IntPtr.Zero) // oops something got wrong or scene isn't ready still
{
m_PendingRequests.Clear();
return 0;
}
ODERayRequest req;
int i = 50; // arbitary limit of processed tests per frame
while(m_PendingRequests.Dequeue(out req))
{
if (req.geom == IntPtr.Zero)
doSpaceRay(req);
else
doGeomRay(req);
if(--i < 0)
break;
}
lock (m_contactResults)
m_contactResults.Clear();
return System.Environment.TickCount - time;
}
/// <summary>
/// Method that actually initiates the raycast with full top space
/// </summary>
/// <param name="req"></param>
private void doSpaceRay(ODERayRequest req)
{
// Create the ray
// IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length);
d.GeomRaySetLength(ray, req.length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(m_scene.TopSpace, ray, IntPtr.Zero, nearCallback);
// Remove Ray
// d.GeomDestroy(ray);
if (req.callbackMethod == null)
return;
if (req.callbackMethod is RaycastCallback)
{
// Define default results
bool hitYN = false;
uint hitConsumerID = 0;
float distance = 999999999999f;
Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
Vector3 snormal = Vector3.Zero;
// Find closest contact and object.
lock (m_contactResults)
{
foreach (ContactResult cResult in m_contactResults)
{
if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
{
closestcontact = cResult.Pos;
hitConsumerID = cResult.ConsumerID;
distance = cResult.Depth;
hitYN = true;
snormal = cResult.Normal;
}
}
m_contactResults.Clear();
}
((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
}
else
{
((RayCallback)req.callbackMethod)(m_contactResults);
lock (m_PendingRequests)
m_contactResults.Clear();
}
}
/// <summary>
/// Method that actually initiates the raycast with a geom
/// </summary>
/// <param name="req"></param>
private void doGeomRay(ODERayRequest req)
{
// Create the ray
// IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length);
d.GeomRaySetLength(ray, req.length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(req.geom, ray, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test
// Remove Ray
// d.GeomDestroy(ray);
if (req.callbackMethod == null)
return;
if (req.callbackMethod is RaycastCallback)
{
// Define default results
bool hitYN = false;
uint hitConsumerID = 0;
float distance = 999999999999f;
Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
Vector3 snormal = Vector3.Zero;
// Find closest contact and object.
lock (m_contactResults)
{
foreach (ContactResult cResult in m_contactResults)
{
if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
{
closestcontact = cResult.Pos;
hitConsumerID = cResult.ConsumerID;
distance = cResult.Depth;
hitYN = true;
snormal = cResult.Normal;
}
}
m_contactResults.Clear();
}
((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
}
else
{
((RayCallback)req.callbackMethod)(m_contactResults);
lock (m_PendingRequests)
m_contactResults.Clear();
}
}
private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
{
IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
if (ContactgeomsArray == IntPtr.Zero || index >= ColisionContactGeomsPerTest)
return false;
IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
return true;
}
// This is the standard Near. g2 is the ray
private void near(IntPtr space, IntPtr g1, IntPtr g2)
{
//Don't test against heightfield Geom, or you'll be sorry!
// Exclude heightfield geom
if (g1 == IntPtr.Zero || g1 == g2)
return;
if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass)
return;
// Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
if (d.GeomIsSpace(g1))
{
try
{
d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
}
catch (Exception e)
{
m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
}
return;
}
int count = 0;
try
{
count = d.CollidePtr(g1, g2, ColisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
}
catch (SEHException)
{
m_log.Error("[PHYSICS Ray]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
}
catch (Exception e)
{
m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
return;
}
if (count == 0)
return;
PhysicsActor p1 = null;
if (g1 != IntPtr.Zero)
m_scene.actor_name_map.TryGetValue(g1, out p1);
d.ContactGeom curcontact = new d.ContactGeom();
// Loop over contacts, build results.
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref curcontact))
break;
if (p1 != null) {
if (p1 is OdePrim)
{
ContactResult collisionresult = new ContactResult();
collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
collisionresult.Depth = curcontact.depth;
collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
curcontact.normal.Z);
lock (m_contactResults)
m_contactResults.Add(collisionresult);
}
}
}
}
/// <summary>
/// Dereference the creator scene so that it can be garbage collected if needed.
/// </summary>
internal void Dispose()
{
m_scene = null;
}
}
public struct ODERayRequest
{
public IntPtr geom;
public Vector3 Origin;
public Vector3 Normal;
public int Count;
public float length;
public object callbackMethod;
}
}

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/*
* 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 System.Reflection;
using System.Runtime.InteropServices;
using System.Threading;
using System.IO;
using System.Diagnostics;
using log4net;
using Nini.Config;
using OdeAPI;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenMetaverse;
namespace OpenSim.Region.Physics.OdePlugin
{
/// <summary>
/// ODE plugin
/// </summary>
public class OdePlugin : IPhysicsPlugin
{
//private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
private OdeScene m_scene;
public bool Init()
{
if (d.InitODE2(0) != 0)
{
if (d.AllocateODEDataForThread(~0U) == 0)
{
d.CloseODE();
return false;
}
return true;
}
return false;
}
public PhysicsScene GetScene(String sceneIdentifier)
{
if (m_scene == null)
{
m_scene = new OdeScene(sceneIdentifier);
}
return (m_scene);
}
public string GetName()
{
return ("UbitODE");
}
public void Dispose()
{
d.CloseODE();
}
}
}

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/*
* Copyright ODE
* Ode.NET - .NET bindings for ODE
* Jason Perkins (starkos@industriousone.com)
* Licensed under the New BSD
* Part of the OpenDynamicsEngine
Open Dynamics Engine
Copyright (c) 2001-2007, Russell L. Smith.
All rights reserved.
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 names of ODE's copyright owner 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 COPYRIGHT HOLDERS AND CONTRIBUTORS
"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 COPYRIGHT
OWNER OR 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.Runtime.InteropServices;
using OdeAPI;
namespace ODEDrawstuff
{
/*#if dDOUBLE
using dReal = System.Double;
#else
*/
using dReal = System.Single;
//#endif
public static class ds
{
public const int VERSION = 2;
public enum Texture
{
None,
Wood
}
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate void CallbackFunction(int arg);
[StructLayout(LayoutKind.Sequential)]
public struct Functions
{
public int version;
public CallbackFunction start;
public CallbackFunction step;
public CallbackFunction command;
public CallbackFunction stop;
public string path_to_textures;
}
[DllImport("drawstuff", EntryPoint = "dsDrawBox")]
public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
[DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
[DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
[DllImport("drawstuff", EntryPoint = "dsSetColor")]
public static extern void SetColor(float red, float green, float blue);
[DllImport("drawstuff", EntryPoint = "dsSetTexture")]
public static extern void SetTexture(Texture texture);
[DllImport("drawstuff", EntryPoint = "dsSetViewpoint")]
public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
[DllImport("drawstuff", EntryPoint = "dsSimulationLoop")]
public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
}
}