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Merged the new ODE stuff

zircon^2
gareth 2007-05-21 19:05:09 +00:00
parent fe46b045f7
commit b253f3db48
1 changed files with 456 additions and 452 deletions
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908
OpenSim.Physics/OdePlugin/OdePlugin.cs
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@ -1,452 +1,456 @@
/* /*
* Copyright (c) OpenSim project, http://sim.opensecondlife.org/ * Copyright (c) OpenSim project, http://sim.opensecondlife.org/
* *
* Redistribution and use in source and binary forms, with or without * 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 * * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer. * notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright * * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the * notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution. * documentation and/or other materials provided with the distribution.
* * Neither the name of the <organization> nor the * * Neither the name of the <organization> nor the
* names of its contributors may be used to endorse or promote products * 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 <copyright holder> ``AS IS'' AND ANY * THIS SOFTWARE IS PROVIDED BY <copyright holder> ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY * DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * 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. * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* *
*/ */
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using OpenSim.Physics.Manager; using OpenSim.Physics.Manager;
using Ode.NET; using Ode.NET;
namespace OpenSim.Physics.OdePlugin namespace OpenSim.Physics.OdePlugin
{ {
/// <summary> /// <summary>
/// ODE plugin /// ODE plugin
/// </summary> /// </summary>
public class OdePlugin : IPhysicsPlugin public class OdePlugin : IPhysicsPlugin
{ {
private OdeScene _mScene; private OdeScene _mScene;
public OdePlugin() public OdePlugin()
{ {
} }
public bool Init() public bool Init()
{ {
return true; return true;
} }
public PhysicsScene GetScene() public PhysicsScene GetScene()
{ {
if (_mScene == null) if (_mScene == null)
{ {
_mScene = new OdeScene(); _mScene = new OdeScene();
} }
return (_mScene); return (_mScene);
} }
public string GetName() public string GetName()
{ {
return ("OpenDynamicsEngine"); return ("OpenDynamicsEngine");
} }
public void Dispose() public void Dispose()
{ {
} }
} }
public class OdeScene : PhysicsScene public class OdeScene : PhysicsScene
{ {
static public IntPtr world; static public IntPtr world;
static public IntPtr space; static public IntPtr space;
static private IntPtr contactgroup; static private IntPtr contactgroup;
static private IntPtr LandGeom; static private IntPtr LandGeom;
//static private IntPtr Land; //static private IntPtr Land;
private double[] _heightmap; private double[] _heightmap;
static private d.NearCallback nearCallback = near; static private d.NearCallback nearCallback = near;
private List<OdeCharacter> _characters = new List<OdeCharacter>(); private List<OdeCharacter> _characters = new List<OdeCharacter>();
private static d.ContactGeom[] contacts = new d.ContactGeom[30]; private static d.ContactGeom[] contacts = new d.ContactGeom[30];
private static d.Contact contact; private static d.Contact contact;
public OdeScene() public OdeScene()
{ {
contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM; contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
contact.surface.mu = d.Infinity; contact.surface.mu = d.Infinity;
contact.surface.mu2 = 0.0f; contact.surface.mu2 = 0.0f;
contact.surface.bounce = 0.1f; contact.surface.bounce = 0.1f;
contact.surface.bounce_vel = 0.1f; contact.surface.bounce_vel = 0.1f;
contact.surface.soft_cfm = 0.01f; contact.surface.soft_cfm = 0.01f;
world = d.WorldCreate(); world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero); space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0); contactgroup = d.JointGroupCreate(0);
d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f); d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
//d.WorldSetCFM(world, 1e-5f); //d.WorldSetCFM(world, 1e-5f);
d.WorldSetAutoDisableFlag(world, false); d.WorldSetAutoDisableFlag(world, false);
d.WorldSetContactSurfaceLayer(world, 0.001f); d.WorldSetContactSurfaceLayer(world, 0.001f);
// d.CreatePlane(space, 0, 0, 1, 0); // d.CreatePlane(space, 0, 0, 1, 0);
this._heightmap = new double[65536]; this._heightmap = new double[65536];
} }
// This function blatantly ripped off from BoxStack.cs // This function blatantly ripped off from BoxStack.cs
static private void near(IntPtr space, IntPtr g1, IntPtr g2) static private void near(IntPtr space, IntPtr g1, IntPtr g2)
{ {
//Console.WriteLine("collision callback"); //Console.WriteLine("collision callback");
IntPtr b1 = d.GeomGetBody(g1); IntPtr b1 = d.GeomGetBody(g1);
IntPtr b2 = d.GeomGetBody(g2); IntPtr b2 = d.GeomGetBody(g2);
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
return; return;
int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf); int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
for (int i = 0; i < count; ++i) for (int i = 0; i < count; ++i)
{ {
contact.geom = contacts[i]; contact.geom = contacts[i];
IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
d.JointAttach(joint, b1, b2); d.JointAttach(joint, b1, b2);
} }
} }
public override PhysicsActor AddAvatar(PhysicsVector position) public override PhysicsActor AddAvatar(PhysicsVector position)
{ {
PhysicsVector pos = new PhysicsVector(); PhysicsVector pos = new PhysicsVector();
pos.X = position.X; pos.X = position.X;
pos.Y = position.Y; pos.Y = position.Y;
pos.Z = position.Z + 20; pos.Z = position.Z + 20;
OdeCharacter newAv = new OdeCharacter(this, pos); OdeCharacter newAv = new OdeCharacter(this, pos);
this._characters.Add(newAv); this._characters.Add(newAv);
return newAv; return newAv;
} }
public override void RemoveAvatar(PhysicsActor actor) public override void RemoveAvatar(PhysicsActor actor)
{ {
} }
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
{ {
PhysicsVector pos = new PhysicsVector(); PhysicsVector pos = new PhysicsVector();
pos.X = position.X; pos.X = position.X;
pos.Y = position.Y; pos.Y = position.Y;
pos.Z = position.Z; pos.Z = position.Z;
PhysicsVector siz = new PhysicsVector(); PhysicsVector siz = new PhysicsVector();
siz.X = size.X; siz.X = size.X;
siz.Y = size.Y; siz.Y = size.Y;
siz.Z = size.Z; siz.Z = size.Z;
return new OdePrim(); return new OdePrim();
} }
public override void Simulate(float timeStep) public override void Simulate(float timeStep)
{ {
foreach (OdeCharacter actor in _characters) foreach (OdeCharacter actor in _characters)
{ {
actor.Move(timeStep * 5f); actor.Move(timeStep * 5f);
} }
d.SpaceCollide(space, IntPtr.Zero, nearCallback); d.SpaceCollide(space, IntPtr.Zero, nearCallback);
d.WorldQuickStep(world, timeStep * 5f); d.WorldQuickStep(world, timeStep * 5f);
d.JointGroupEmpty(contactgroup); d.JointGroupEmpty(contactgroup);
foreach (OdeCharacter actor in _characters) foreach (OdeCharacter actor in _characters)
{ {
actor.UpdatePosition(); actor.UpdatePosition();
} }
} }
public override void GetResults() public override void GetResults()
{ {
} }
public override bool IsThreaded public override bool IsThreaded
{ {
get get
{ {
return (false); // for now we won't be multithreaded return (false); // for now we won't be multithreaded
} }
} }
public override void SetTerrain(float[] heightMap) public override void SetTerrain(float[] heightMap)
{ {
for (int i = 0; i < 65536; i++) for (int i = 0; i < 65536; i++)
{ {
this._heightmap[i] = (double)heightMap[i]; // this._heightmap[i] = (double)heightMap[i];
} // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); int x = i & 0xff;
d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0); int y = i >> 8;
d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256); this._heightmap[i] = (double)heightMap[x * 256 + y];
LandGeom = d.CreateHeightfield(space, HeightmapData, 1); }
d.Matrix3 R = new d.Matrix3(); IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0)); d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0)); LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
//Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1)); d.Matrix3 R = new d.Matrix3();
q1 = q1 * q2; Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
//q1 = q1 * q3; Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(); //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
float angle = 0;
q1.ToAngleAxis(ref angle, ref v3); q1 = q1 * q2;
//q1 = q1 * q3;
d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle); Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();
d.GeomSetRotation(LandGeom, ref R); float angle = 0;
d.GeomSetPosition(LandGeom, 128, 128, 0); q1.ToAngleAxis(ref angle, ref v3);
}
d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
public override void DeleteTerrain() d.GeomSetRotation(LandGeom, ref R);
{ d.GeomSetPosition(LandGeom, 128, 128, 0);
}
}
} public override void DeleteTerrain()
{
public class OdeCharacter : PhysicsActor
{ }
private PhysicsVector _position; }
private PhysicsVector _velocity;
private PhysicsVector _acceleration; public class OdeCharacter : PhysicsActor
private bool flying; {
//private float gravityAccel; private PhysicsVector _position;
private IntPtr BoundingCapsule; private PhysicsVector _velocity;
IntPtr capsule_geom; private PhysicsVector _acceleration;
d.Mass capsule_mass; private bool flying;
//private float gravityAccel;
public OdeCharacter(OdeScene parent_scene, PhysicsVector pos) private IntPtr BoundingCapsule;
{ IntPtr capsule_geom;
_velocity = new PhysicsVector(); d.Mass capsule_mass;
_position = pos;
_acceleration = new PhysicsVector(); public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f); {
capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f); _velocity = new PhysicsVector();
this.BoundingCapsule = d.BodyCreate(OdeScene.world); _position = pos;
d.BodySetMass(BoundingCapsule, ref capsule_mass); _acceleration = new PhysicsVector();
d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z); d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
d.GeomSetBody(capsule_geom, BoundingCapsule); capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
} this.BoundingCapsule = d.BodyCreate(OdeScene.world);
d.BodySetMass(BoundingCapsule, ref capsule_mass);
public override bool Flying d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
{ d.GeomSetBody(capsule_geom, BoundingCapsule);
get }
{
return flying; public override bool Flying
} {
set get
{ {
flying = value; return flying;
} }
} set
{
public override PhysicsVector Position flying = value;
{ }
get }
{
return _position; public override PhysicsVector Position
} {
set get
{ {
_position = value; return _position;
} }
} set
{
public override PhysicsVector Velocity _position = value;
{ }
get }
{
return _velocity; public override PhysicsVector Velocity
} {
set get
{ {
_velocity = value; return _velocity;
} }
} set
{
public override bool Kinematic _velocity = value;
{ }
get }
{
return false; public override bool Kinematic
} {
set get
{ {
return false;
} }
} set
{
public override Axiom.MathLib.Quaternion Orientation
{ }
get }
{
return Axiom.MathLib.Quaternion.Identity; public override Axiom.MathLib.Quaternion Orientation
} {
set get
{ {
return Axiom.MathLib.Quaternion.Identity;
} }
} set
{
public override PhysicsVector Acceleration
{ }
get }
{
return _acceleration; public override PhysicsVector Acceleration
} {
get
} {
public void SetAcceleration(PhysicsVector accel) return _acceleration;
{ }
this._acceleration = accel;
} }
public void SetAcceleration(PhysicsVector accel)
public override void AddForce(PhysicsVector force) {
{ this._acceleration = accel;
}
}
public override void AddForce(PhysicsVector force)
public override void SetMomentum(PhysicsVector momentum) {
{
}
}
public override void SetMomentum(PhysicsVector momentum)
public void Move(float timeStep) {
{
PhysicsVector vec = new PhysicsVector(); }
vec.X = this._velocity.X * timeStep;
vec.Y = this._velocity.Y * timeStep; public void Move(float timeStep)
if (flying) {
{ PhysicsVector vec = new PhysicsVector();
vec.Z = (this._velocity.Z + 0.5f) * timeStep; vec.X = this._velocity.X * timeStep;
} vec.Y = this._velocity.Y * timeStep;
d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z); if (flying)
} {
vec.Z = (this._velocity.Z + 0.5f) * timeStep;
public void UpdatePosition() }
{ d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
d.Vector3 vec = d.BodyGetPosition(BoundingCapsule); }
this._position.X = vec.X;
this._position.Y = vec.Y; public void UpdatePosition()
this._position.Z = vec.Z; {
} d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
} this._position.X = vec.X;
this._position.Y = vec.Y;
public class OdePrim : PhysicsActor this._position.Z = vec.Z+1.0f;
{ }
private PhysicsVector _position; }
private PhysicsVector _velocity;
private PhysicsVector _acceleration; public class OdePrim : PhysicsActor
{
public OdePrim() private PhysicsVector _position;
{ private PhysicsVector _velocity;
_velocity = new PhysicsVector(); private PhysicsVector _acceleration;
_position = new PhysicsVector();
_acceleration = new PhysicsVector(); public OdePrim()
} {
public override bool Flying _velocity = new PhysicsVector();
{ _position = new PhysicsVector();
get _acceleration = new PhysicsVector();
{ }
return false; //no flying prims for you public override bool Flying
} {
set get
{ {
return false; //no flying prims for you
} }
} set
public override PhysicsVector Position {
{
get }
{ }
PhysicsVector pos = new PhysicsVector(); public override PhysicsVector Position
// PhysicsVector vec = this._prim.Position; {
//pos.X = vec.X; get
//pos.Y = vec.Y; {
//pos.Z = vec.Z; PhysicsVector pos = new PhysicsVector();
return pos; // PhysicsVector vec = this._prim.Position;
//pos.X = vec.X;
} //pos.Y = vec.Y;
set //pos.Z = vec.Z;
{ return pos;
/*PhysicsVector vec = value;
PhysicsVector pos = new PhysicsVector(); }
pos.X = vec.X; set
pos.Y = vec.Y; {
pos.Z = vec.Z; /*PhysicsVector vec = value;
this._prim.Position = pos;*/ PhysicsVector pos = new PhysicsVector();
} pos.X = vec.X;
} pos.Y = vec.Y;
pos.Z = vec.Z;
public override PhysicsVector Velocity this._prim.Position = pos;*/
{ }
get }
{
return _velocity; public override PhysicsVector Velocity
} {
set get
{ {
_velocity = value; return _velocity;
} }
} set
{
public override bool Kinematic _velocity = value;
{ }
get }
{
return false; public override bool Kinematic
//return this._prim.Kinematic; {
} get
set {
{ return false;
//this._prim.Kinematic = value; //return this._prim.Kinematic;
} }
} set
{
public override Axiom.MathLib.Quaternion Orientation //this._prim.Kinematic = value;
{ }
get }
{
Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion(); public override Axiom.MathLib.Quaternion Orientation
return res; {
} get
set {
{ Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
return res;
} }
} set
{
public override PhysicsVector Acceleration
{ }
get }
{
return _acceleration; public override PhysicsVector Acceleration
} {
get
} {
public void SetAcceleration(PhysicsVector accel) return _acceleration;
{ }
this._acceleration = accel;
} }
public void SetAcceleration(PhysicsVector accel)
public override void AddForce(PhysicsVector force) {
{ this._acceleration = accel;
}
}
public override void AddForce(PhysicsVector force)
public override void SetMomentum(PhysicsVector momentum) {
{
}
}
public override void SetMomentum(PhysicsVector momentum)
{
}
}
}
}
}