664 lines
18 KiB
C#
664 lines
18 KiB
C#
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSim Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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using System;
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using System.Collections.Generic;
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using Axiom.Math;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.POSPlugin
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{
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/// <summary>
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/// for now will be a very POS physics engine
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/// </summary>
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public class POSPlugin : IPhysicsPlugin
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{
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public POSPlugin()
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{
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}
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public bool Init()
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{
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return true;
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}
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public PhysicsScene GetScene()
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{
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return new POSScene();
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}
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public string GetName()
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{
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return ("POS");
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}
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public void Dispose()
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{
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}
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}
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public class POSScene : PhysicsScene
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{
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private List<POSCharacter> _characters = new List<POSCharacter>();
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private List<POSPrim> _prims = new List<POSPrim>();
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private float[] _heightMap;
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private const float gravity = -9.8f;
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public POSScene()
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{
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}
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public override void Initialise(IMesher meshmerizer)
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{
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// Does nothing right now
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}
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public override void Dispose()
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{
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}
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public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size)
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{
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POSCharacter act = new POSCharacter();
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act.Position = position;
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_characters.Add(act);
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return act;
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}
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public override void RemovePrim(PhysicsActor prim)
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{
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POSPrim p = (POSPrim) prim;
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if (_prims.Contains(p))
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{
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_prims.Remove(p);
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}
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}
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public override void RemoveAvatar(PhysicsActor character)
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{
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POSCharacter act = (POSCharacter) character;
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if (_characters.Contains(act))
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{
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_characters.Remove(act);
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}
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}
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/*
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public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
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{
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return null;
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}
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*/
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public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
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PhysicsVector size, Quaternion rotation, uint localID)
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{
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return AddPrimShape(primName, pbs, position, size, rotation, false,localID);
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}
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public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
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PhysicsVector size, Quaternion rotation, bool isPhysical, uint localID)
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{
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POSPrim prim = new POSPrim();
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prim.Position = position;
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prim.Orientation = rotation;
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prim.Size = size;
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_prims.Add(prim);
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return prim;
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}
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private bool check_collision(POSCharacter c, POSPrim p)
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{
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/*
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Console.WriteLine("checking whether " + c + " collides with " + p +
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" absX: " + Math.Abs(p.Position.X - c.Position.X) +
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" sizeX: " + p.Size.X * 0.5 + 0.5);
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*/
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Vector3 rotatedPos = p.Orientation.Inverse()*
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new Vector3(c.Position.X - p.Position.X, c.Position.Y - p.Position.Y,
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c.Position.Z - p.Position.Z);
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Vector3 avatarSize = p.Orientation.Inverse()*new Vector3(c.Size.X, c.Size.Y, c.Size.Z);
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if (Math.Abs(rotatedPos.x) >= (p.Size.X*0.5 + Math.Abs(avatarSize.x)))
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{
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return false;
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}
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if (Math.Abs(rotatedPos.y) >= (p.Size.Y*0.5 + Math.Abs(avatarSize.y)))
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{
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return false;
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}
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if (Math.Abs(rotatedPos.z) >= (p.Size.Z*0.5 + Math.Abs(avatarSize.z)))
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{
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return false;
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}
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return true;
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}
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private bool check_all_prims(POSCharacter c)
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{
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for (int i = 0; i < _prims.Count; ++i)
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{
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if (check_collision(c, _prims[i]))
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{
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return true;
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}
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}
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return false;
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}
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public override void AddPhysicsActorTaint(PhysicsActor prim)
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{
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}
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public override float Simulate(float timeStep)
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{
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float fps = 0;
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for (int i = 0; i < _characters.Count; ++i)
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{
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fps++;
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POSCharacter character = _characters[i];
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float oldposX = character.Position.X;
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float oldposY = character.Position.Y;
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float oldposZ = character.Position.Z;
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if (!character.Flying)
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{
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character._target_velocity.Z += gravity*timeStep;
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}
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bool forcedZ = false;
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character.Position.X += character._target_velocity.X*timeStep;
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character.Position.Y += character._target_velocity.Y*timeStep;
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if (character.Position.Y < 0)
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{
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character.Position.Y = 0.1F;
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}
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else if (character.Position.Y >= Constants.RegionSize)
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{
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character.Position.Y = Constants.RegionSize - 0.1f;
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}
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if (character.Position.X < 0)
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{
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character.Position.X = 0.1F;
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}
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else if (character.Position.X >= Constants.RegionSize)
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{
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character.Position.X = Constants.RegionSize - 0.1f;
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}
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float terrainheight = _heightMap[(int)character.Position.Y * Constants.RegionSize + (int)character.Position.X];
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if (character.Position.Z + (character._target_velocity.Z*timeStep) < terrainheight + 2)
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{
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character.Position.Z = terrainheight + 1.0f;
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forcedZ = true;
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}
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else
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{
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character.Position.Z += character._target_velocity.Z*timeStep;
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}
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/// this is it -- the magic you've all been waiting for! Ladies and gentlemen --
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/// Completely Bogus Collision Detection!!!
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/// better known as the CBCD algorithm
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if (check_all_prims(character))
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{
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character.Position.Z = oldposZ; // first try Z axis
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if (check_all_prims(character))
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{
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character.Position.Z = oldposZ + 0.4f; // try harder
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if (check_all_prims(character))
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{
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character.Position.X = oldposX;
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character.Position.Y = oldposY;
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character.Position.Z = oldposZ;
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character.Position.X = character.Position.X + (character._target_velocity.X*timeStep);
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if (check_all_prims(character))
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{
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character.Position.X = oldposX;
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}
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character.Position.Y = character.Position.Y + (character._target_velocity.Y*timeStep);
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if (check_all_prims(character))
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{
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character.Position.Y = oldposY;
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}
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}
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else
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{
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forcedZ = true;
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}
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}
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else
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{
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forcedZ = true;
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}
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}
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if (character.Position.Y < 0)
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{
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character.Position.Y = 0.1F;
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}
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else if (character.Position.Y >= Constants.RegionSize)
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{
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character.Position.Y = Constants.RegionSize - 0.1f;
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}
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if (character.Position.X < 0)
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{
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character.Position.X = 0.1F;
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}
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else if (character.Position.X >= Constants.RegionSize)
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{
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character.Position.X = Constants.RegionSize - 0.1f;
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}
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character._velocity.X = (character.Position.X - oldposX)/timeStep;
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character._velocity.Y = (character.Position.Y - oldposY)/timeStep;
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if (forcedZ)
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{
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character._velocity.Z = 0;
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character._target_velocity.Z = 0;
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((PhysicsActor)character).IsColliding = true;
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character.RequestPhysicsterseUpdate();
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}
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else
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{
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((PhysicsActor)character).IsColliding = false;
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character._velocity.Z = (character.Position.Z - oldposZ)/timeStep;
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}
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}
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return fps;
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}
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public override void GetResults()
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{
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}
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public override bool IsThreaded
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{
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get { return (false); // for now we won't be multithreaded
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}
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}
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public override void SetTerrain(float[] heightMap)
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{
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_heightMap = heightMap;
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}
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public override void DeleteTerrain()
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{
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}
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}
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public class POSCharacter : PhysicsActor
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{
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private PhysicsVector _position;
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public PhysicsVector _velocity;
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public PhysicsVector _target_velocity = PhysicsVector.Zero;
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private PhysicsVector _acceleration;
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private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
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private bool flying;
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private bool iscolliding;
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public POSCharacter()
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{
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_velocity = new PhysicsVector();
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_position = new PhysicsVector();
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_acceleration = new PhysicsVector();
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}
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public override int PhysicsActorType
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{
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get { return (int) ActorTypes.Agent; }
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set { return; }
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}
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public override PhysicsVector RotationalVelocity
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{
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get { return m_rotationalVelocity; }
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set { m_rotationalVelocity = value; }
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}
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public override bool SetAlwaysRun
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{
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get { return false; }
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set { return; }
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}
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public override bool Grabbed
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{
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set { return; }
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}
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public override bool Selected
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{
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set { return; }
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}
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public override bool IsPhysical
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{
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get { return false; }
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set { return; }
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}
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public override bool ThrottleUpdates
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{
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get { return false; }
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set { return; }
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}
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public override bool Flying
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{
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get { return flying; }
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set { flying = value; }
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}
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public override bool IsColliding
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{
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get { return iscolliding; }
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set { iscolliding = value; }
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}
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public override bool CollidingGround
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{
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get { return false; }
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set { return; }
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}
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public override bool CollidingObj
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{
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get { return false; }
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set { return; }
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}
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public override bool Stopped
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{
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get { return false; }
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}
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public override PhysicsVector Position
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{
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get { return _position; }
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set { _position = value; }
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}
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public override PhysicsVector Size
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{
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get { return new PhysicsVector(0.5f, 0.5f, 1.0f); }
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set { }
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}
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public override float Mass
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{
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get { return 0f; }
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}
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public override PhysicsVector Force
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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set { return; }
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}
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public override PhysicsVector Velocity
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{
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get { return _velocity; }
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set { _target_velocity = value; }
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}
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public override float CollisionScore
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{
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get { return 0f; }
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}
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public override Quaternion Orientation
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{
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get { return Quaternion.Identity; }
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set { }
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}
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public override PhysicsVector Acceleration
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{
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get { return _acceleration; }
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}
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public override bool Kinematic
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{
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get { return true; }
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set { }
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}
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public void SetAcceleration(PhysicsVector accel)
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{
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_acceleration = accel;
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}
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public override void AddForce(PhysicsVector force)
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{
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}
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public override void SetMomentum(PhysicsVector momentum)
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{
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}
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public override void CrossingFailure()
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{
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}
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}
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public class POSPrim : PhysicsActor
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{
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private PhysicsVector _position;
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private PhysicsVector _velocity;
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private PhysicsVector _acceleration;
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private PhysicsVector _size;
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private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
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private Quaternion _orientation;
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private bool iscolliding;
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public POSPrim()
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{
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_velocity = new PhysicsVector();
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_position = new PhysicsVector();
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_acceleration = new PhysicsVector();
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}
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public override int PhysicsActorType
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{
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get { return (int) ActorTypes.Prim; }
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set { return; }
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}
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public override PhysicsVector RotationalVelocity
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{
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get { return m_rotationalVelocity; }
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set { m_rotationalVelocity = value; }
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}
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public override bool IsPhysical
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{
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get { return false; }
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set { return; }
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}
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public override bool ThrottleUpdates
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{
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get { return false; }
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set { return; }
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}
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public override bool IsColliding
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{
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get { return iscolliding; }
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set { iscolliding = value; }
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}
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public override bool CollidingGround
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{
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get { return false; }
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set { return; }
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}
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public override bool CollidingObj
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{
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get { return false; }
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set { return; }
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}
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public override bool Stopped
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{
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get { return false; }
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}
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public override PhysicsVector Position
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{
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get { return _position; }
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set { _position = value; }
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}
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public override PhysicsVector Size
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{
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get { return _size; }
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set { _size = value; }
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}
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public override float Mass
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{
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get { return 0f; }
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}
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public override PhysicsVector Force
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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set { return; }
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}
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public override PhysicsVector Velocity
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{
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get { return _velocity; }
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set { _velocity = value; }
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}
|
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public override float CollisionScore
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{
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get { return 0f; }
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}
|
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public override Quaternion Orientation
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{
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get { return _orientation; }
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set { _orientation = value; }
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}
|
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public override PhysicsVector Acceleration
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{
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get { return _acceleration; }
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}
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public override bool Kinematic
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{
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get { return true; }
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set { }
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}
|
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public void SetAcceleration(PhysicsVector accel)
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{
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_acceleration = accel;
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}
|
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public override void AddForce(PhysicsVector force)
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{
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}
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public override void SetMomentum(PhysicsVector momentum)
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{
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}
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public override bool Flying
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{
|
|
get { return false; }
|
|
set { }
|
|
}
|
|
|
|
public override bool SetAlwaysRun
|
|
{
|
|
get { return false; }
|
|
set { return; }
|
|
}
|
|
|
|
public override bool Grabbed
|
|
{
|
|
set { return; }
|
|
}
|
|
|
|
public override bool Selected
|
|
{
|
|
set { return; }
|
|
}
|
|
public override void CrossingFailure()
|
|
{
|
|
|
|
}
|
|
|
|
}
|
|
}
|