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Done some fixes to the ODE plugin, but its still not working correctly, believe that the terrain is rotated /placed wrongly.

0.1-prestable
MW 2007-03-30 15:19:15 +00:00
parent cf182b9897
commit e4316394c3
2 changed files with 404 additions and 374 deletions
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678
OpenSim.Physics/OdePlugin/OdePlugin.cs
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@ -31,387 +31,417 @@ 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[500]; private static d.ContactGeom[] contacts = new d.ContactGeom[30];
private static d.Contact contact; private static d.Contact contact;
public OdeScene() { public OdeScene()
world = d.WorldCreate(); {
space = d.HashSpaceCreate(IntPtr.Zero); contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
contactgroup = d.JointGroupCreate(0); contact.surface.mu = d.Infinity;
d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f); contact.surface.mu2 = 0.0f;
d.WorldSetCFM(world, 1e-5f); contact.surface.bounce = 0.1f;
d.WorldSetAutoDisableFlag(world, false); contact.surface.bounce_vel = 0.1f;
this._heightmap=new double[65536]; contact.surface.soft_cfm = 0.01f;
}
// This function blatantly ripped off from BoxStack.cs world = d.WorldCreate();
static private void near(IntPtr space, IntPtr g1, IntPtr g2) space = d.HashSpaceCreate(IntPtr.Zero);
{ contactgroup = d.JointGroupCreate(0);
IntPtr b1 = d.GeomGetBody(g1); d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
IntPtr b2 = d.GeomGetBody(g2); //d.WorldSetCFM(world, 1e-5f);
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) d.WorldSetAutoDisableFlag(world, false);
return; d.WorldSetContactSurfaceLayer(world, 0.001f);
// d.CreatePlane(space, 0, 0, 1, 0);
this._heightmap = new double[65536];
}
int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf); // This function blatantly ripped off from BoxStack.cs
for (int i = 0; i < count; ++i) static private void near(IntPtr space, IntPtr g1, IntPtr g2)
{ {
contact.geom = contacts[i]; //Console.WriteLine("collision callback");
IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); IntPtr b1 = d.GeomGetBody(g1);
d.JointAttach(joint, b1, b2); IntPtr b2 = d.GeomGetBody(g2);
} if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
return;
} int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
for (int i = 0; i < count; ++i)
{
contact.geom = contacts[i];
IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
d.JointAttach(joint, b1, b2);
}
public override PhysicsActor AddAvatar(PhysicsVector position) }
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
OdeCharacter newAv= new OdeCharacter(this,pos);
this._characters.Add(newAv);
return newAv;
}
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) 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; pos.Z = position.Z + 20;
PhysicsVector siz = new PhysicsVector(); OdeCharacter newAv = new OdeCharacter(this, pos);
siz.X = size.X; this._characters.Add(newAv);
siz.Y = size.Y; return newAv;
siz.Z = size.Z; }
return new OdePrim();
}
public override void Simulate(float timeStep) public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
{ {
foreach (OdeCharacter actor in _characters) { PhysicsVector pos = new PhysicsVector();
actor.Move(timeStep*5f); pos.X = position.X;
} pos.Y = position.Y;
d.SpaceCollide(space, IntPtr.Zero, nearCallback); pos.Z = position.Z;
d.WorldQuickStep(world, timeStep*5f); PhysicsVector siz = new PhysicsVector();
d.JointGroupEmpty(contactgroup); siz.X = size.X;
foreach (OdeCharacter actor in _characters) siz.Y = size.Y;
{ siz.Z = size.Z;
actor.UpdatePosition(); return new OdePrim();
} }
} public override void Simulate(float timeStep)
{
foreach (OdeCharacter actor in _characters)
{
actor.Move(timeStep * 5f);
}
d.SpaceCollide(space, IntPtr.Zero, nearCallback);
d.WorldQuickStep(world, timeStep * 5f);
d.JointGroupEmpty(contactgroup);
foreach (OdeCharacter actor in _characters)
{
actor.UpdatePosition();
}
public override void GetResults() }
{
} public override void GetResults()
{
public override bool IsThreaded }
{
get
{
return(false); // for now we won't be multithreaded
}
}
public override void SetTerrain(float[] heightMap) public override bool IsThreaded
{ {
for(int i=0; i<65536; i++) { get
this._heightmap[i]=(double)heightMap[i]; {
} return (false); // for now we won't be multithreaded
IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); }
d.GeomHeightfieldDataBuildDouble(HeightmapData,_heightmap,1,256,256,256,256,1.0f,0.0f,2.0f,0); }
LandGeom=d.CreateHeightfield(space, HeightmapData, 0);
} public override void SetTerrain(float[] heightMap)
{
for (int i = 0; i < 65536; i++)
{
this._heightmap[i] = (double)heightMap[i];
}
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
d.Matrix3 R = new d.Matrix3();
Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
//Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
q1 = q1 * q2;
//q1 = q1 * q3;
Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();
float angle = 0;
q1.ToAngleAxis(ref angle, ref v3);
d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
d.GeomSetRotation(LandGeom, ref R);
d.GeomSetPosition(LandGeom, 128, 128, 0);
}
public override void DeleteTerrain() public override void DeleteTerrain()
{ {
} }
} }
public class OdeCharacter : PhysicsActor public class OdeCharacter : PhysicsActor
{ {
private PhysicsVector _position; private PhysicsVector _position;
private PhysicsVector _velocity; private PhysicsVector _velocity;
private PhysicsVector _acceleration; private PhysicsVector _acceleration;
private bool flying; private bool flying;
private float gravityAccel; private float gravityAccel;
private IntPtr BoundingCapsule; private IntPtr BoundingCapsule;
IntPtr capsule_geom; IntPtr capsule_geom;
d.Mass capsule_mass; d.Mass capsule_mass;
public OdeCharacter(OdeScene parent_scene, PhysicsVector pos) public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
{ {
_velocity = new PhysicsVector(); _velocity = new PhysicsVector();
_position = pos; _position = pos;
_acceleration = new PhysicsVector(); _acceleration = new PhysicsVector();
d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f); d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f); capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
this.BoundingCapsule=d.BodyCreate(OdeScene.world); this.BoundingCapsule = d.BodyCreate(OdeScene.world);
d.BodySetMass(BoundingCapsule, ref capsule_mass); d.BodySetMass(BoundingCapsule, ref capsule_mass);
d.BodySetPosition(BoundingCapsule,pos.X,pos.Y,pos.Z); d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
} d.GeomSetBody(capsule_geom, BoundingCapsule);
}
public override bool Flying public override bool Flying
{ {
get get
{ {
return flying; return flying;
} }
set set
{ {
flying = value; flying = value;
} }
} }
public override PhysicsVector Position public override PhysicsVector Position
{ {
get get
{ {
return _position; return _position;
} }
set set
{ {
_position = value; _position = value;
} }
} }
public override PhysicsVector Velocity public override PhysicsVector Velocity
{ {
get get
{ {
return _velocity; return _velocity;
} }
set set
{ {
_velocity = value; _velocity = value;
} }
} }
public override bool Kinematic public override bool Kinematic
{ {
get get
{ {
return false; return false;
} }
set set
{ {
} }
} }
public override Axiom.MathLib.Quaternion Orientation public override Axiom.MathLib.Quaternion Orientation
{ {
get get
{ {
return Axiom.MathLib.Quaternion.Identity; return Axiom.MathLib.Quaternion.Identity;
} }
set set
{ {
} }
} }
public override PhysicsVector Acceleration public override PhysicsVector Acceleration
{ {
get get
{ {
return _acceleration; return _acceleration;
} }
} }
public void SetAcceleration (PhysicsVector accel) public void SetAcceleration(PhysicsVector accel)
{ {
this._acceleration = accel; this._acceleration = accel;
} }
public override void AddForce(PhysicsVector force) public override void AddForce(PhysicsVector force)
{ {
} }
public override void SetMomentum(PhysicsVector momentum) public override void SetMomentum(PhysicsVector momentum)
{ {
} }
public void Move(float timeStep) public void Move(float timeStep)
{ {
PhysicsVector vec = new PhysicsVector(); PhysicsVector vec = new PhysicsVector();
vec.X = this._velocity.X * timeStep; vec.X = this._velocity.X * timeStep;
vec.Y = this._velocity.Y * timeStep; vec.Y = this._velocity.Y * timeStep;
if(flying) if (flying)
{ {
vec.Z = ( this._velocity.Z+0.5f) * timeStep; vec.Z = (this._velocity.Z + 0.5f) * timeStep;
} }
d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z); d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
} }
public void UpdatePosition() public void UpdatePosition()
{ {
d.Vector3 vec = d.BodyGetPosition(BoundingCapsule); d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
this._position.X = vec.X; this._position.X = vec.X;
this._position.Y = vec.Y; this._position.Y = vec.Y;
this._position.Z = vec.Z; this._position.Z = vec.Z;
} }
} }
public class OdePrim : PhysicsActor public class OdePrim : PhysicsActor
{ {
private PhysicsVector _position; private PhysicsVector _position;
private PhysicsVector _velocity; private PhysicsVector _velocity;
private PhysicsVector _acceleration; private PhysicsVector _acceleration;
public OdePrim() public OdePrim()
{ {
_velocity = new PhysicsVector(); _velocity = new PhysicsVector();
_position = new PhysicsVector(); _position = new PhysicsVector();
_acceleration = new PhysicsVector(); _acceleration = new PhysicsVector();
} }
public override bool Flying public override bool Flying
{ {
get get
{ {
return false; //no flying prims for you return false; //no flying prims for you
} }
set set
{ {
} }
} }
public override PhysicsVector Position public override PhysicsVector Position
{ {
get get
{ {
PhysicsVector pos = new PhysicsVector(); PhysicsVector pos = new PhysicsVector();
// PhysicsVector vec = this._prim.Position; // PhysicsVector vec = this._prim.Position;
//pos.X = vec.X; //pos.X = vec.X;
//pos.Y = vec.Y; //pos.Y = vec.Y;
//pos.Z = vec.Z; //pos.Z = vec.Z;
return pos; return pos;
} }
set set
{ {
/*PhysicsVector vec = value; /*PhysicsVector vec = value;
PhysicsVector pos = new PhysicsVector(); PhysicsVector pos = new PhysicsVector();
pos.X = vec.X; pos.X = vec.X;
pos.Y = vec.Y; pos.Y = vec.Y;
pos.Z = vec.Z; pos.Z = vec.Z;
this._prim.Position = pos;*/ this._prim.Position = pos;*/
} }
} }
public override PhysicsVector Velocity public override PhysicsVector Velocity
{ {
get get
{ {
return _velocity; return _velocity;
} }
set set
{ {
_velocity = value; _velocity = value;
} }
} }
public override bool Kinematic public override bool Kinematic
{ {
get get
{ {
return false; return false;
//return this._prim.Kinematic; //return this._prim.Kinematic;
} }
set set
{ {
//this._prim.Kinematic = value; //this._prim.Kinematic = value;
} }
} }
public override Axiom.MathLib.Quaternion Orientation public override Axiom.MathLib.Quaternion Orientation
{ {
get get
{ {
Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion(); Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
return res; return res;
} }
set set
{ {
} }
} }
public override PhysicsVector Acceleration public override PhysicsVector Acceleration
{ {
get get
{ {
return _acceleration; return _acceleration;
} }
} }
public void SetAcceleration (PhysicsVector accel) public void SetAcceleration(PhysicsVector accel)
{ {
this._acceleration = accel; this._acceleration = accel;
} }
public override void AddForce(PhysicsVector force) public override void AddForce(PhysicsVector force)
{ {
} }
public override void SetMomentum(PhysicsVector momentum) public override void SetMomentum(PhysicsVector momentum)
{ {
} }
} }
} }

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bin/ode.dll Normal file
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