448 lines
13 KiB
C#
448 lines
13 KiB
C#
/*
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* Copyright (c) OpenSim project, http://sim.opensecondlife.org/
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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 <organization> 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 <copyright holder> ``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 <copyright holder> 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 OpenSim.Physics.Manager;
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using Ode.NET;
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namespace OpenSim.Physics.OdePlugin
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{
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/// <summary>
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/// ODE plugin
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/// </summary>
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public class OdePlugin : IPhysicsPlugin
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{
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private OdeScene _mScene;
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public OdePlugin()
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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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if (_mScene == null)
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{
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_mScene = new OdeScene();
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}
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return (_mScene);
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}
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public string GetName()
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{
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return ("OpenDynamicsEngine");
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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 OdeScene : PhysicsScene
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{
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static public IntPtr world;
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static public IntPtr space;
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static private IntPtr contactgroup;
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static private IntPtr LandGeom;
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static private IntPtr Land;
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private double[] _heightmap;
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static private d.NearCallback nearCallback = near;
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private List<OdeCharacter> _characters = new List<OdeCharacter>();
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private static d.ContactGeom[] contacts = new d.ContactGeom[30];
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private static d.Contact contact;
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public OdeScene()
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{
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contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
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contact.surface.mu = d.Infinity;
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contact.surface.mu2 = 0.0f;
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contact.surface.bounce = 0.1f;
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contact.surface.bounce_vel = 0.1f;
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contact.surface.soft_cfm = 0.01f;
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world = d.WorldCreate();
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space = d.HashSpaceCreate(IntPtr.Zero);
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contactgroup = d.JointGroupCreate(0);
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d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
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//d.WorldSetCFM(world, 1e-5f);
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d.WorldSetAutoDisableFlag(world, false);
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d.WorldSetContactSurfaceLayer(world, 0.001f);
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// d.CreatePlane(space, 0, 0, 1, 0);
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this._heightmap = new double[65536];
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}
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// This function blatantly ripped off from BoxStack.cs
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static private void near(IntPtr space, IntPtr g1, IntPtr g2)
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{
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//Console.WriteLine("collision callback");
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IntPtr b1 = d.GeomGetBody(g1);
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IntPtr b2 = d.GeomGetBody(g2);
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if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
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return;
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int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
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for (int i = 0; i < count; ++i)
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{
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contact.geom = contacts[i];
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IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
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d.JointAttach(joint, b1, b2);
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}
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}
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public override PhysicsActor AddAvatar(PhysicsVector position)
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{
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PhysicsVector pos = new PhysicsVector();
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pos.X = position.X;
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pos.Y = position.Y;
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pos.Z = position.Z + 20;
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OdeCharacter newAv = new OdeCharacter(this, pos);
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this._characters.Add(newAv);
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return newAv;
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}
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public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
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{
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PhysicsVector pos = new PhysicsVector();
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pos.X = position.X;
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pos.Y = position.Y;
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pos.Z = position.Z;
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PhysicsVector siz = new PhysicsVector();
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siz.X = size.X;
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siz.Y = size.Y;
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siz.Z = size.Z;
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return new OdePrim();
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}
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public override void Simulate(float timeStep)
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{
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foreach (OdeCharacter actor in _characters)
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{
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actor.Move(timeStep * 5f);
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}
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d.SpaceCollide(space, IntPtr.Zero, nearCallback);
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d.WorldQuickStep(world, timeStep * 5f);
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d.JointGroupEmpty(contactgroup);
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foreach (OdeCharacter actor in _characters)
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{
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actor.UpdatePosition();
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}
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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
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{
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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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for (int i = 0; i < 65536; i++)
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{
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this._heightmap[i] = (double)heightMap[i];
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}
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IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
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d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
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d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
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LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
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d.Matrix3 R = new d.Matrix3();
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Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
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Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
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//Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
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q1 = q1 * q2;
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//q1 = q1 * q3;
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Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();
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float angle = 0;
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q1.ToAngleAxis(ref angle, ref v3);
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d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
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d.GeomSetRotation(LandGeom, ref R);
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d.GeomSetPosition(LandGeom, 128, 128, 0);
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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 OdeCharacter : 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 bool flying;
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private float gravityAccel;
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private IntPtr BoundingCapsule;
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IntPtr capsule_geom;
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d.Mass capsule_mass;
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public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
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{
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_velocity = new PhysicsVector();
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_position = pos;
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_acceleration = new PhysicsVector();
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d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
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capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
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this.BoundingCapsule = d.BodyCreate(OdeScene.world);
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d.BodySetMass(BoundingCapsule, ref capsule_mass);
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d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
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d.GeomSetBody(capsule_geom, BoundingCapsule);
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}
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public override bool Flying
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{
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get
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{
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return flying;
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}
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set
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{
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flying = value;
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}
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}
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public override PhysicsVector Position
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{
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get
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{
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return _position;
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}
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set
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{
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_position = value;
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}
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}
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public override PhysicsVector Velocity
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{
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get
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{
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return _velocity;
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}
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set
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{
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_velocity = value;
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}
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}
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public override bool Kinematic
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{
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get
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{
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return false;
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}
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set
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{
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}
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}
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public override Axiom.MathLib.Quaternion Orientation
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{
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get
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{
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return Axiom.MathLib.Quaternion.Identity;
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}
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set
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{
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}
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}
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public override PhysicsVector Acceleration
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{
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get
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{
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return _acceleration;
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}
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}
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public void SetAcceleration(PhysicsVector accel)
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{
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this._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 void Move(float timeStep)
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{
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PhysicsVector vec = new PhysicsVector();
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vec.X = this._velocity.X * timeStep;
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vec.Y = this._velocity.Y * timeStep;
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if (flying)
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{
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vec.Z = (this._velocity.Z + 0.5f) * timeStep;
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}
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d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
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}
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public void UpdatePosition()
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{
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d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
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this._position.X = vec.X;
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this._position.Y = vec.Y;
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this._position.Z = vec.Z;
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}
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}
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public class OdePrim : 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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public OdePrim()
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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 bool Flying
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{
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get
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{
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return false; //no flying prims for you
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}
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set
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{
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}
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}
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public override PhysicsVector Position
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{
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get
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{
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PhysicsVector pos = new PhysicsVector();
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// PhysicsVector vec = this._prim.Position;
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//pos.X = vec.X;
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//pos.Y = vec.Y;
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//pos.Z = vec.Z;
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return pos;
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}
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set
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{
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/*PhysicsVector vec = value;
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PhysicsVector pos = new PhysicsVector();
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pos.X = vec.X;
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pos.Y = vec.Y;
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pos.Z = vec.Z;
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this._prim.Position = pos;*/
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}
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}
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public override PhysicsVector Velocity
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{
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get
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{
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return _velocity;
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}
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set
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{
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_velocity = value;
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}
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}
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public override bool Kinematic
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{
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get
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{
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return false;
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//return this._prim.Kinematic;
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}
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set
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{
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//this._prim.Kinematic = value;
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}
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}
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public override Axiom.MathLib.Quaternion Orientation
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{
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get
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{
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Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
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return res;
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}
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set
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{
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}
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}
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public override PhysicsVector Acceleration
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{
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get
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{
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return _acceleration;
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}
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}
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public void SetAcceleration(PhysicsVector accel)
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{
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this._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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}
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}
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