445 lines
10 KiB
C#
445 lines
10 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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/*
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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 PhysXWrapper;
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namespace OpenSim.Physics.PhysXPlugin
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{
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/// <summary>
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/// Will be the PhysX plugin but for now will be a very basic physics engine
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/// </summary>
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public class PhysXPlugin : IPhysicsPlugin
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{
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private PhysXScene _mScene;
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public PhysXPlugin()
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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 PhysXScene();
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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("RealPhysX");
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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 PhysXScene :PhysicsScene
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{
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private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
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private List<PhysXPrim> _prims = new List<PhysXPrim>();
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private float[] _heightMap = null;
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private NxPhysicsSDK mySdk;
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private NxScene scene;
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public PhysXScene()
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{
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mySdk = NxPhysicsSDK.CreateSDK();
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Console.WriteLine("Sdk created - now creating scene");
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scene = mySdk.CreateScene();
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}
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public override PhysicsActor AddAvatar(PhysicsVector position)
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{
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Vec3 pos = new Vec3();
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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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PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos));
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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 PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
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{
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Vec3 pos = new Vec3();
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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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Vec3 siz = new Vec3();
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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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PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz));
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_prims.Add(act);
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return act;
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}
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public override void Simulate(float timeStep)
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{
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try
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{
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foreach (PhysXCharacter actor in _characters)
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{
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actor.Move(timeStep);
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}
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scene.Simulate(timeStep);
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scene.FetchResults();
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scene.UpdateControllers();
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foreach (PhysXCharacter 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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catch (Exception e)
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{
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Console.WriteLine(e.Message);
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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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if (this._heightMap != null)
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{
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Console.WriteLine("PhysX - deleting old terrain");
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this.scene.DeleteTerrain();
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}
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this._heightMap = heightMap;
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this.scene.AddTerrain(heightMap);
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}
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public override void DeleteTerrain()
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{
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this.scene.DeleteTerrain();
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}
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}
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public class PhysXCharacter : 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 NxCharacter _character;
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private bool flying;
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private float gravityAccel;
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public PhysXCharacter(NxCharacter character)
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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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_character = character;
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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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Vec3 ps = new Vec3();
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ps.X = value.X;
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ps.Y = value.Y;
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ps.Z = value.Z;
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this._character.Position = ps;
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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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Vec3 vec = new Vec3();
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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) * timeStep;
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}
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else
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{
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gravityAccel+= -9.8f;
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vec.Z = (gravityAccel + this._velocity.Z) * timeStep;
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}
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int res = this._character.Move(vec);
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if(res == 1)
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{
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gravityAccel = 0;
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}
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}
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public void UpdatePosition()
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{
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Vec3 vec = this._character.Position;
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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 PhysXPrim : 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 NxActor _prim;
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public PhysXPrim(NxActor prim)
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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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_prim = prim;
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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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Vec3 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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Vec3 pos = new Vec3();
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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 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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PhysXWrapper.Quaternion quat = this._prim.GetOrientation();
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res.w = quat.W;
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res.x = quat.X;
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res.y = quat.Y;
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res.z = quat.Z;
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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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