600 lines
18 KiB
C#
600 lines
18 KiB
C#
/*
|
|
* 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 OpenSim Project nor the
|
|
* names of its contributors may be used to endorse or promote products
|
|
* derived from this software without specific prior written permission.
|
|
*
|
|
* 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.Threading;
|
|
using System.Collections.Generic;
|
|
using Axiom.Math;
|
|
using Ode.NET;
|
|
using OpenSim.Region.Physics.Manager;
|
|
|
|
namespace OpenSim.Region.Physics.OdePlugin
|
|
{
|
|
/// <summary>
|
|
/// ODE plugin
|
|
/// </summary>
|
|
public class OdePlugin : IPhysicsPlugin
|
|
{
|
|
private OdeScene _mScene;
|
|
|
|
public OdePlugin()
|
|
{
|
|
|
|
}
|
|
|
|
public bool Init()
|
|
{
|
|
return true;
|
|
}
|
|
|
|
public PhysicsScene GetScene()
|
|
{
|
|
if (_mScene == null)
|
|
{
|
|
_mScene = new OdeScene();
|
|
}
|
|
return (_mScene);
|
|
}
|
|
|
|
public string GetName()
|
|
{
|
|
return ("OpenDynamicsEngine");
|
|
}
|
|
|
|
public void Dispose()
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
public class OdeScene : PhysicsScene
|
|
{
|
|
private IntPtr contactgroup;
|
|
private IntPtr LandGeom;
|
|
private double[] _heightmap;
|
|
private d.NearCallback nearCallback;
|
|
private List<OdeCharacter> _characters = new List<OdeCharacter>();
|
|
private List<OdePrim> _prims = new List<OdePrim>();
|
|
private d.ContactGeom[] contacts = new d.ContactGeom[30];
|
|
private d.Contact contact;
|
|
|
|
public IntPtr world;
|
|
public IntPtr space;
|
|
public static Object OdeLock = new Object();
|
|
|
|
public OdeScene()
|
|
{
|
|
nearCallback = near;
|
|
contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
|
|
contact.surface.mu = 10.0f;
|
|
contact.surface.bounce = 0.9f;
|
|
contact.surface.soft_erp = 0.005f;
|
|
contact.surface.soft_cfm = 0.00003f;
|
|
|
|
lock (OdeLock)
|
|
{
|
|
world = d.WorldCreate();
|
|
space = d.HashSpaceCreate(IntPtr.Zero);
|
|
contactgroup = d.JointGroupCreate(0);
|
|
d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
|
|
d.WorldSetAutoDisableFlag(world, false);
|
|
d.WorldSetContactSurfaceLayer(world, 0.001f);
|
|
}
|
|
|
|
_heightmap = new double[65536];
|
|
}
|
|
|
|
// This function blatantly ripped off from BoxStack.cs
|
|
private void near(IntPtr space, IntPtr g1, IntPtr g2)
|
|
{
|
|
// no lock here! It's invoked from within Simulate(), which is thread-locked
|
|
IntPtr b1 = d.GeomGetBody(g1);
|
|
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);
|
|
}
|
|
|
|
}
|
|
|
|
private void collision_optimized()
|
|
{
|
|
foreach (OdeCharacter chr in _characters)
|
|
{
|
|
d.SpaceCollide2(space, chr.capsule_geom, IntPtr.Zero, nearCallback);
|
|
foreach (OdeCharacter ch2 in _characters) /// should be a separate space -- lots of avatars will be N**2 slow
|
|
{
|
|
d.SpaceCollide2(chr.capsule_geom, ch2.capsule_geom, IntPtr.Zero, nearCallback);
|
|
}
|
|
}
|
|
}
|
|
|
|
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);
|
|
_characters.Add(newAv);
|
|
return newAv;
|
|
}
|
|
|
|
public override void RemoveAvatar(PhysicsActor actor)
|
|
{
|
|
((OdeCharacter)actor).Destroy();
|
|
_characters.Remove((OdeCharacter)actor);
|
|
}
|
|
|
|
public override void RemovePrim(PhysicsActor prim)
|
|
{
|
|
if (prim is OdePrim)
|
|
{
|
|
lock (OdeLock)
|
|
{
|
|
d.GeomDestroy(((OdePrim)prim).prim_geom);
|
|
_prims.Remove((OdePrim)prim);
|
|
}
|
|
}
|
|
}
|
|
|
|
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
|
|
{
|
|
PhysicsVector pos = new PhysicsVector();
|
|
pos.X = position.X;
|
|
pos.Y = position.Y;
|
|
pos.Z = position.Z;
|
|
PhysicsVector siz = new PhysicsVector();
|
|
siz.X = size.X;
|
|
siz.Y = size.Y;
|
|
siz.Z = size.Z;
|
|
Quaternion rot = new Quaternion();
|
|
rot.w = rotation.w;
|
|
rot.x = rotation.x;
|
|
rot.y = rotation.y;
|
|
rot.z = rotation.z;
|
|
OdePrim newPrim;
|
|
lock (OdeLock)
|
|
{
|
|
newPrim = new OdePrim(this, pos, siz, rot);
|
|
}
|
|
_prims.Add(newPrim);
|
|
return newPrim;
|
|
}
|
|
|
|
public override void Simulate(float timeStep)
|
|
{
|
|
lock (OdeLock)
|
|
{
|
|
foreach (OdePrim p in _prims)
|
|
{
|
|
}
|
|
foreach (OdeCharacter actor in _characters)
|
|
{
|
|
actor.Move(timeStep);
|
|
}
|
|
collision_optimized();
|
|
for (int i = 0; i < 50; i++)
|
|
{
|
|
d.WorldQuickStep(world, timeStep * 0.02f);
|
|
}
|
|
|
|
d.JointGroupEmpty(contactgroup);
|
|
foreach (OdeCharacter actor in _characters)
|
|
{
|
|
actor.UpdatePosition();
|
|
}
|
|
}
|
|
}
|
|
|
|
public override void GetResults()
|
|
{
|
|
|
|
}
|
|
|
|
public override bool IsThreaded
|
|
{
|
|
get
|
|
{
|
|
return (false); // for now we won't be multithreaded
|
|
}
|
|
}
|
|
|
|
public override void SetTerrain(float[] heightMap)
|
|
{
|
|
for (int i = 0; i < 65536; i++)
|
|
{
|
|
// this._heightmap[i] = (double)heightMap[i];
|
|
// dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
|
|
int x = i & 0xff;
|
|
int y = i >> 8;
|
|
_heightmap[i] = (double)heightMap[x * 256 + y];
|
|
}
|
|
|
|
lock (OdeLock)
|
|
{
|
|
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();
|
|
|
|
Quaternion q1 = Quaternion.FromAngleAxis(1.5707f, new Vector3(1, 0, 0));
|
|
Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0));
|
|
//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
|
|
|
|
q1 = q1 * q2;
|
|
//q1 = q1 * q3;
|
|
Vector3 v3 = new 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 class OdeCharacter : PhysicsActor
|
|
{
|
|
private PhysicsVector _position;
|
|
private d.Vector3 _zeroPosition;
|
|
private bool _zeroFlag=false;
|
|
private PhysicsVector _velocity;
|
|
private PhysicsVector _acceleration;
|
|
private bool flying = false;
|
|
//private float gravityAccel;
|
|
public IntPtr BoundingCapsule;
|
|
private OdeScene _parent_scene;
|
|
public IntPtr capsule_geom;
|
|
public d.Mass capsule_mass;
|
|
|
|
public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
|
|
{
|
|
_velocity = new PhysicsVector();
|
|
_position = pos;
|
|
_acceleration = new PhysicsVector();
|
|
_parent_scene = parent_scene;
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f);
|
|
capsule_geom = d.CreateSphere(parent_scene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble
|
|
BoundingCapsule = d.BodyCreate(parent_scene.world);
|
|
d.BodySetMass(BoundingCapsule, ref capsule_mass);
|
|
d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
|
|
d.GeomSetBody(capsule_geom, BoundingCapsule);
|
|
}
|
|
}
|
|
|
|
public override bool Flying
|
|
{
|
|
get
|
|
{
|
|
return flying;
|
|
}
|
|
set
|
|
{
|
|
flying = value;
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Position
|
|
{
|
|
get
|
|
{
|
|
return _position;
|
|
}
|
|
set
|
|
{
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
d.BodySetPosition(BoundingCapsule, value.X, value.Y, value.Z);
|
|
_position = value;
|
|
}
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Size
|
|
{
|
|
get
|
|
{
|
|
return new PhysicsVector(0,0,0);
|
|
}
|
|
set
|
|
{
|
|
}
|
|
}
|
|
|
|
|
|
public override PhysicsVector Velocity
|
|
{
|
|
get
|
|
{
|
|
return _velocity;
|
|
}
|
|
set
|
|
{
|
|
_velocity = value;
|
|
}
|
|
}
|
|
|
|
public override bool Kinematic
|
|
{
|
|
get
|
|
{
|
|
return false;
|
|
}
|
|
set
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
public override Quaternion Orientation
|
|
{
|
|
get
|
|
{
|
|
return Quaternion.Identity;
|
|
}
|
|
set
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Acceleration
|
|
{
|
|
get
|
|
{
|
|
return _acceleration;
|
|
}
|
|
|
|
}
|
|
public void SetAcceleration(PhysicsVector accel)
|
|
{
|
|
_acceleration = accel;
|
|
}
|
|
|
|
public override void AddForce(PhysicsVector force)
|
|
{
|
|
|
|
}
|
|
|
|
public override void SetMomentum(PhysicsVector momentum)
|
|
{
|
|
|
|
}
|
|
|
|
public void Move(float timeStep)
|
|
{
|
|
// no lock; for now it's only called from within Simulate()
|
|
PhysicsVector vec = new PhysicsVector();
|
|
d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule);
|
|
|
|
// if velocity is zero, use position control; otherwise, velocity control
|
|
if (_velocity.X == 0.0f & _velocity.Y == 0.0f & _velocity.Z == 0.0f & !flying)
|
|
{
|
|
// keep track of where we stopped. No more slippin' & slidin'
|
|
if (!_zeroFlag)
|
|
{
|
|
_zeroFlag = true;
|
|
_zeroPosition = d.BodyGetPosition(BoundingCapsule);
|
|
}
|
|
d.Vector3 pos = d.BodyGetPosition(BoundingCapsule);
|
|
vec.X = (_velocity.X - vel.X) * 75000.0f + (_zeroPosition.X - pos.X) * 120000.0f;
|
|
vec.Y = (_velocity.Y - vel.Y) * 75000.0f + (_zeroPosition.Y - pos.Y) * 120000.0f;
|
|
}
|
|
else
|
|
{
|
|
_zeroFlag = false;
|
|
vec.X = (_velocity.X - vel.X) * 75000.0f;
|
|
vec.Y = (_velocity.Y - vel.Y) * 75000.0f;
|
|
if (flying)
|
|
{
|
|
vec.Z = (_velocity.Z - vel.Z) * 75000.0f;
|
|
}
|
|
}
|
|
d.BodyAddForce(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
|
|
}
|
|
|
|
public void UpdatePosition()
|
|
{
|
|
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
|
|
d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
|
|
|
|
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
|
|
if (vec.X < 0.0f) vec.X = 0.0f;
|
|
if (vec.Y < 0.0f) vec.Y = 0.0f;
|
|
if (vec.X > 255.95f) vec.X = 255.95f;
|
|
if (vec.Y > 255.95f) vec.Y = 255.95f;
|
|
|
|
this._position.X = vec.X;
|
|
this._position.Y = vec.Y;
|
|
this._position.Z = vec.Z;
|
|
}
|
|
|
|
public void Destroy()
|
|
{
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
d.GeomDestroy(this.capsule_geom);
|
|
d.BodyDestroy(this.BoundingCapsule);
|
|
}
|
|
}
|
|
}
|
|
|
|
public class OdePrim : PhysicsActor
|
|
{
|
|
private PhysicsVector _position;
|
|
private PhysicsVector _velocity;
|
|
private PhysicsVector _size;
|
|
private PhysicsVector _acceleration;
|
|
private Quaternion _orientation;
|
|
public IntPtr prim_geom;
|
|
|
|
public OdePrim(OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, Quaternion rotation)
|
|
{
|
|
_velocity = new PhysicsVector();
|
|
_position = pos;
|
|
_size = size;
|
|
_acceleration = new PhysicsVector();
|
|
_orientation = rotation;
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
prim_geom = d.CreateBox(parent_scene.space, _size.X, _size.Y, _size.Z);
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = rotation.w;
|
|
myrot.X = rotation.x;
|
|
myrot.Y = rotation.y;
|
|
myrot.Z = rotation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
}
|
|
|
|
public override bool Flying
|
|
{
|
|
get
|
|
{
|
|
return false; //no flying prims for you
|
|
}
|
|
set
|
|
{
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Position
|
|
{
|
|
get
|
|
{
|
|
return _position;
|
|
}
|
|
set
|
|
{
|
|
_position = value;
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
}
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Size
|
|
{
|
|
get
|
|
{
|
|
return _size;
|
|
}
|
|
set
|
|
{
|
|
_size = value;
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
|
}
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Velocity
|
|
{
|
|
get
|
|
{
|
|
return _velocity;
|
|
}
|
|
set
|
|
{
|
|
_velocity = value;
|
|
}
|
|
}
|
|
|
|
public override bool Kinematic
|
|
{
|
|
get
|
|
{
|
|
return false;
|
|
}
|
|
set
|
|
{
|
|
}
|
|
}
|
|
|
|
public override Quaternion Orientation
|
|
{
|
|
get
|
|
{
|
|
return _orientation;
|
|
}
|
|
set
|
|
{
|
|
_orientation = value;
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Acceleration
|
|
{
|
|
get
|
|
{
|
|
return _acceleration;
|
|
}
|
|
}
|
|
|
|
public void SetAcceleration(PhysicsVector accel)
|
|
{
|
|
this._acceleration = accel;
|
|
}
|
|
|
|
public override void AddForce(PhysicsVector force)
|
|
{
|
|
}
|
|
|
|
public override void SetMomentum(PhysicsVector momentum)
|
|
{
|
|
}
|
|
}
|
|
}
|