947 lines
33 KiB
C#
947 lines
33 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 Ode.NET;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using OpenSim.Region.Physics.OdePlugin.Meshing;
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namespace OpenSim.Region.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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private static float ODE_STEPSIZE = 0.004f;
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private static bool RENDER_FLAG = false;
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private IntPtr contactgroup;
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private IntPtr LandGeom = (IntPtr) 0;
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private double[] _heightmap;
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private d.NearCallback nearCallback;
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public d.TriCallback triCallback;
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public d.TriArrayCallback triArrayCallback;
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private List<OdeCharacter> _characters = new List<OdeCharacter>();
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private List<OdePrim> _prims = new List<OdePrim>();
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public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
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public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
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private d.ContactGeom[] contacts = new d.ContactGeom[30];
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private d.Contact contact;
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private PhysicsActor PANull = new NullPhysicsActor();
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private float step_time = 0.0f;
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public IntPtr world;
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public IntPtr space;
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public static Object OdeLock = new Object();
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public OdeScene()
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{
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nearCallback = near;
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triCallback = TriCallback;
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triArrayCallback = TriArrayCallback;
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/*
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contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
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contact.surface.mu = 10.0f;
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contact.surface.bounce = 0.9f;
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contact.surface.soft_erp = 0.005f;
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contact.surface.soft_cfm = 0.00003f;
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*/
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contact.surface.mu = 250.0f;
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contact.surface.bounce = 0.2f;
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lock (OdeLock)
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{
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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, -10.0f);
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d.WorldSetAutoDisableFlag(world, false);
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d.WorldSetContactSurfaceLayer(world, 0.001f);
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d.WorldSetQuickStepNumIterations(world, 10);
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d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
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}
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_heightmap = new double[258*258];
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}
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// This function blatantly ripped off from BoxStack.cs
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private void near(IntPtr space, IntPtr g1, IntPtr g2)
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{
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// no lock here! It's invoked from within Simulate(), which is thread-locked
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IntPtr b1 = d.GeomGetBody(g1);
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IntPtr b2 = d.GeomGetBody(g2);
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if (g1 == g2)
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return; // Can't collide with yourself
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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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d.GeomClassID id = d.GeomGetClass(g1);
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if (id == d.GeomClassID.TriMeshClass)
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{
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// MainLog.Instance.Verbose("near: A collision was detected between {1} and {2}", 0, name1, name2);
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//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
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}
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int count = d.Collide(g1, g2, contacts.GetLength(0), 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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PhysicsActor p1;
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PhysicsActor p2;
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if (!actor_name_map.TryGetValue(g1, out p1))
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{
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p1 = PANull;
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}
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if (!actor_name_map.TryGetValue(g2, out p2))
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{
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p2 = PANull;
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}
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p1.IsColliding = true;
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p2.IsColliding = true;
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//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
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}
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}
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private void collision_optimized()
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{
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foreach (OdeCharacter chr in _characters)
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{
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chr.IsColliding = false;
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}
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foreach (OdeCharacter chr in _characters)
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{
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d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
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foreach (OdeCharacter ch2 in _characters)
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/// should be a separate space -- lots of avatars will be N**2 slow
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{
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d.SpaceCollide2(chr.Shell, ch2.Shell, IntPtr.Zero, nearCallback);
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}
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}
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}
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public override PhysicsActor AddAvatar(string avName, 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;
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OdeCharacter newAv = new OdeCharacter(avName, this, pos);
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_characters.Add(newAv);
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return newAv;
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}
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public override void RemoveAvatar(PhysicsActor actor)
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{
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lock (OdeLock)
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{
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((OdeCharacter) actor).Destroy();
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_characters.Remove((OdeCharacter) actor);
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}
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}
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public override void RemovePrim(PhysicsActor prim)
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{
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if (prim is OdePrim)
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{
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lock (OdeLock)
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{
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d.GeomDestroy(((OdePrim) prim).prim_geom);
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_prims.Remove((OdePrim) prim);
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}
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}
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}
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private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
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Mesh mesh, PrimitiveBaseShape pbs)
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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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Quaternion rot = new Quaternion();
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rot.w = rotation.w;
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rot.x = rotation.x;
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rot.y = rotation.y;
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rot.z = rotation.z;
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OdePrim newPrim;
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lock (OdeLock)
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{
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newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs);
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}
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_prims.Add(newPrim);
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return newPrim;
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}
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public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
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{
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/* String name1 = null;
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String name2 = null;
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if (!geom_name_map.TryGetValue(trimesh, out name1))
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{
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name1 = "null";
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}
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if (!geom_name_map.TryGetValue(refObject, out name2))
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{
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name2 = "null";
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}
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MainLog.Instance.Verbose("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
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*/
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return 1;
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}
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public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
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{
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/*
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String name1 = null;
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String name2 = null;
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if (!geom_name_map.TryGetValue(trimesh, out name1))
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{
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name1 = "null";
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}
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if (!geom_name_map.TryGetValue(refObject, out name2))
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{
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name2 = "null";
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}
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// MainLog.Instance.Verbose("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
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d.Vector3 v0 = new d.Vector3();
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d.Vector3 v1 = new d.Vector3();
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d.Vector3 v2 = new d.Vector3();
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d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
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// MainLog.Instance.Debug("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
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*/
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return 1;
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}
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public bool needsMeshing(PrimitiveBaseShape pbs)
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{
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if (pbs.ProfileHollow != 0)
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return true;
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if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
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return true;
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return false;
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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) //To be removed
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{
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return this.AddPrimShape(primName, pbs, position, size, rotation, false);
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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)
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{
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PhysicsActor result;
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Mesh mesh = null;
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switch (pbs.ProfileShape)
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{
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case ProfileShape.Square:
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/// support simple box & hollow box now; later, more shapes
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if (needsMeshing(pbs))
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{
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mesh = Meshmerizer.CreateMesh(primName, pbs, size);
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}
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break;
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}
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result = AddPrim(primName, position, size, rotation, mesh, pbs);
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return result;
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}
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public override void Simulate(float timeStep)
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{
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step_time += timeStep;
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lock (OdeLock)
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{
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if (_characters.Count > 0 && RENDER_FLAG)
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{
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Console.WriteLine("RENDER: frame");
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}
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foreach (OdePrim p in _prims)
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{
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if (_characters.Count > 0 && RENDER_FLAG)
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{
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Vector3 rx, ry, rz;
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p.Orientation.ToAxes(out rx, out ry, out rz);
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Console.WriteLine("RENDER: block; " + p.Size.X + ", " + p.Size.Y + ", " + p.Size.Z + "; " +
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" 0, 0, 1; " + //shape, size, color
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(p.Position.X - 128.0f) + ", " + (p.Position.Y - 128.0f) + ", " +
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(p.Position.Z - 33.0f) + "; " + // position
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rx.x + "," + ry.x + "," + rz.x + ", " + // rotation
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rx.y + "," + ry.y + "," + rz.y + ", " +
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rx.z + "," + ry.z + "," + rz.z);
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}
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}
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int i = 0;
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while (step_time > 0.0f)
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{
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foreach (OdeCharacter actor in _characters)
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{
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actor.Move(timeStep);
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}
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collision_optimized();
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d.WorldQuickStep(world, ODE_STEPSIZE);
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d.JointGroupEmpty(contactgroup);
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step_time -= ODE_STEPSIZE;
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i++;
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}
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foreach (OdeCharacter actor in _characters)
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{
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actor.UpdatePositionAndVelocity();
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if (RENDER_FLAG)
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{
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/// debugging code
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float Zoff = -33.0f;
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d.Matrix3 temp = d.BodyGetRotation(actor.Body);
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Console.WriteLine("RENDER: cylinder; " + // shape
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OdeCharacter.CAPSULE_RADIUS + ", " + OdeCharacter.CAPSULE_LENGTH + //size
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"; 0, 1, 0; " + // color
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(actor.Position.X - 128.0f) + ", " + (actor.Position.Y - 128.0f) + ", " +
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(actor.Position.Z + Zoff) + "; " + // position
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temp.M00 + "," + temp.M10 + "," + temp.M20 + ", " + // rotation
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temp.M01 + "," + temp.M11 + "," + temp.M21 + ", " +
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temp.M02 + "," + temp.M12 + "," + temp.M22);
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d.Vector3 caphead;
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d.BodyGetRelPointPos(actor.Body, 0, 0, OdeCharacter.CAPSULE_LENGTH*.5f, out caphead);
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d.Vector3 capfoot;
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d.BodyGetRelPointPos(actor.Body, 0, 0, -OdeCharacter.CAPSULE_LENGTH*.5f, out capfoot);
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Console.WriteLine("RENDER: sphere; " + OdeCharacter.CAPSULE_RADIUS + // shape, size
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"; 1, 0, 1; " + //color
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(caphead.X - 128.0f) + ", " + (caphead.Y - 128.0f) + ", " + (caphead.Z + Zoff) +
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"; " + // position
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"1,0,0, 0,1,0, 0,0,1"); // rotation
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Console.WriteLine("RENDER: sphere; " + OdeCharacter.CAPSULE_RADIUS + // shape, size
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"; 1, 0, 0; " + //color
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(capfoot.X - 128.0f) + ", " + (capfoot.Y - 128.0f) + ", " + (capfoot.Z + Zoff) +
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"; " + // position
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"1,0,0, 0,1,0, 0,0,1"); // rotation
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}
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}
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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 { 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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// this._heightmap[i] = (double)heightMap[i];
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// dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
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// also, creating a buffer zone of one extra sample all around
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for (int x = 0; x < 258; x++)
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{
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for (int y = 0; y < 258; y++)
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{
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int xx = x - 1;
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if (xx < 0) xx = 0;
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if (xx > 255) xx = 255;
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int yy = y - 1;
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if (yy < 0) yy = 0;
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if (yy > 255) yy = 255;
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double val = (double) heightMap[yy*256 + xx];
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_heightmap[x*258 + y] = val;
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}
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}
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lock (OdeLock)
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{
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if (!(LandGeom == (IntPtr) 0))
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{
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d.SpaceRemove(space, LandGeom);
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}
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IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
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d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 258, 258, 258, 258, 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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geom_name_map[LandGeom] = "Terrain";
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d.Matrix3 R = new d.Matrix3();
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Quaternion q1 = Quaternion.FromAngleAxis(1.5707f, new Vector3(1, 0, 0));
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Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0));
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//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
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q1 = q1*q2;
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//q1 = q1 * q3;
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Vector3 v3 = new 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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}
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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 d.Vector3 _zeroPosition;
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private bool _zeroFlag = false;
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private PhysicsVector _velocity;
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private PhysicsVector _target_velocity;
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private PhysicsVector _acceleration;
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private static float PID_D = 4000.0f;
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private static float PID_P = 7000.0f;
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private static float POSTURE_SERVO = 10000.0f;
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public static float CAPSULE_RADIUS = 0.5f;
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public static float CAPSULE_LENGTH = 0.9f;
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private bool flying = false;
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private bool iscolliding = false;
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private bool jumping = false;
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//private float gravityAccel;
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public IntPtr Body;
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private OdeScene _parent_scene;
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public IntPtr Shell;
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public d.Mass ShellMass;
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public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
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{
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_velocity = new PhysicsVector();
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_target_velocity = new PhysicsVector();
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_position = pos;
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_acceleration = new PhysicsVector();
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_parent_scene = parent_scene;
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lock (OdeScene.OdeLock)
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{
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Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
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Body = d.BodyCreate(parent_scene.world);
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d.BodySetMass(Body, ref ShellMass);
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d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
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d.GeomSetBody(Shell, Body);
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}
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parent_scene.geom_name_map[Shell] = avName;
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parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
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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 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
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{iscolliding = value;}
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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
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{
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lock (OdeScene.OdeLock)
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{
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d.BodySetPosition(Body, value.X, value.Y, value.Z);
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_position = value;
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}
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}
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}
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public override PhysicsVector Size
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{
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get { return new PhysicsVector(CAPSULE_RADIUS*2, CAPSULE_RADIUS*2, CAPSULE_LENGTH); }
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set { }
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}
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public override PrimitiveBaseShape Shape
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{
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set
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{
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return;
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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 { return _velocity; }
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set { _target_velocity = value; }
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}
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public override bool Kinematic
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{
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get { return false; }
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set { }
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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 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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_target_velocity.X += force.X;
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_target_velocity.Y += force.Y;
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_target_velocity.Z += force.Z;
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}
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public void doForce(PhysicsVector force)
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{
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d.BodyAddForce(Body, force.X, force.Y, force.Z);
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// ok -- let's stand up straight!
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d.Vector3 feet;
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d.Vector3 head;
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
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float posture = head.Z - feet.Z;
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// restoring force proportional to lack of posture:
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float servo = (2.5f - posture) * POSTURE_SERVO;
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
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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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// no lock; for now it's only called from within Simulate()
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PhysicsVector vec = new PhysicsVector();
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d.Vector3 vel = d.BodyGetLinearVel(Body);
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// if velocity is zero, use position control; otherwise, velocity control
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if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && iscolliding)
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{
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// keep track of where we stopped. No more slippin' & slidin'
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if (!_zeroFlag)
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{
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_zeroFlag = true;
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_zeroPosition = d.BodyGetPosition(Body);
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}
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d.Vector3 pos = d.BodyGetPosition(Body);
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vec.X = (_target_velocity.X - vel.X)*PID_D + (_zeroPosition.X - pos.X)*PID_P;
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vec.Y = (_target_velocity.Y - vel.Y)*PID_D + (_zeroPosition.Y - pos.Y)*PID_P;
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if (flying)
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{
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vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
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}
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}
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else
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{
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_zeroFlag = false;
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if (iscolliding || flying)
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{
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vec.X = (_target_velocity.X - vel.X) * PID_D;
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vec.Y = (_target_velocity.Y - vel.Y) * PID_D;
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}
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if (iscolliding && !flying && _target_velocity.Z > 0.0f)
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{
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d.Vector3 pos = d.BodyGetPosition(Body);
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vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
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}
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if (flying)
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{
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vec.Z = (_target_velocity.Z - vel.Z)*PID_D;
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}
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}
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if (flying)
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{
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vec.Z += 10.0f;
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}
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doForce(vec);
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}
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public void UpdatePositionAndVelocity()
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{
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// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
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d.Vector3 vec = d.BodyGetPosition(Body);
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// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
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if (vec.X < 0.0f) vec.X = 0.0f;
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if (vec.Y < 0.0f) vec.Y = 0.0f;
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if (vec.X > 255.95f) vec.X = 255.95f;
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if (vec.Y > 255.95f) vec.Y = 255.95f;
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_position.X = vec.X;
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_position.Y = vec.Y;
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_position.Z = vec.Z;
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if (_zeroFlag)
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{
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_velocity.X = 0.0f;
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_velocity.Y = 0.0f;
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_velocity.Z = 0.0f;
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}
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else
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{
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vec = d.BodyGetLinearVel(Body);
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_velocity.X = vec.X;
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_velocity.Y = vec.Y;
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_velocity.Z = vec.Z;
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}
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}
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public void Destroy()
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{
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lock (OdeScene.OdeLock)
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{
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d.GeomDestroy(Shell);
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_parent_scene.geom_name_map.Remove(Shell);
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d.BodyDestroy(Body);
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}
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}
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}
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public class OdePrim : PhysicsActor
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{
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public PhysicsVector _position;
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private PhysicsVector _velocity;
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private PhysicsVector _size;
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private PhysicsVector _acceleration;
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public Quaternion _orientation;
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private Mesh _mesh;
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private PrimitiveBaseShape _pbs;
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private OdeScene _parent_scene;
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public IntPtr prim_geom;
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public IntPtr _triMeshData;
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private bool iscolliding = false;
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public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
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Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
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{
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_velocity = new PhysicsVector();
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_position = pos;
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_size = size;
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_acceleration = new PhysicsVector();
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_orientation = rotation;
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_mesh = mesh;
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_pbs = pbs;
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_parent_scene = parent_scene;
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lock (OdeScene.OdeLock)
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{
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if (mesh != null)
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{
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setMesh(parent_scene, mesh);
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}
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else
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{
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prim_geom = d.CreateBox(parent_scene.space, _size.X, _size.Y, _size.Z);
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}
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d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
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d.Quaternion myrot = new d.Quaternion();
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myrot.W = rotation.w;
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myrot.X = rotation.x;
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myrot.Y = rotation.y;
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myrot.Z = rotation.z;
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d.GeomSetQuaternion(prim_geom, ref myrot);
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parent_scene.geom_name_map[prim_geom] = primName;
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parent_scene.actor_name_map[prim_geom] = (PhysicsActor) this;
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// don't do .add() here; old geoms get recycled with the same hash
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}
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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 void setMesh(OdeScene parent_scene, Mesh mesh)
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{
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float[] vertexList = mesh.getVertexListAsFloat(); // Note, that vertextList is pinned in memory
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int[] indexList = mesh.getIndexListAsInt(); // Also pinned, needs release after usage
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int VertexCount = vertexList.GetLength(0)/3;
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int IndexCount = indexList.GetLength(0);
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_triMeshData = d.GeomTriMeshDataCreate();
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d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3*sizeof (float), VertexCount, indexList, IndexCount,
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3*sizeof (int));
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d.GeomTriMeshDataPreprocess(_triMeshData);
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prim_geom = d.CreateTriMesh(parent_scene.space, _triMeshData, parent_scene.triCallback, null, null);
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}
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public override bool Flying
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{
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get { return false; //no flying prims for you
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}
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set { }
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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 PhysicsVector Position
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{
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get { return _position; }
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set
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{
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_position = value;
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lock (OdeScene.OdeLock)
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{
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d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
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}
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}
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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
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{
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_size = value;
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lock (OdeScene.OdeLock)
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{
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string oldname = _parent_scene.geom_name_map[prim_geom];
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// Cleanup of old prim geometry
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d.GeomDestroy(prim_geom);
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if (_mesh != null)
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{
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// Cleanup meshing here
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}
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// Construction of new prim
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if (this._parent_scene.needsMeshing(_pbs))
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{
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Mesh mesh = Meshmerizer.CreateMesh(oldname, _pbs, _size);
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setMesh(_parent_scene, mesh);
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} else {
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prim_geom = d.CreateBox(_parent_scene.space, _size.X, _size.Y, _size.Z);
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}
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_parent_scene.geom_name_map[prim_geom] = oldname;
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d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
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d.Quaternion myrot = new d.Quaternion();
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myrot.W = _orientation.w;
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myrot.X = _orientation.x;
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myrot.Y = _orientation.y;
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myrot.Z = _orientation.z;
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d.GeomSetQuaternion(prim_geom, ref myrot);
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}
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}
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}
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public override PrimitiveBaseShape Shape
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{
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set
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{
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_pbs = value;
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lock (OdeScene.OdeLock)
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{
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string oldname = _parent_scene.geom_name_map[prim_geom];
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// Cleanup of old prim geometry
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d.GeomDestroy(prim_geom);
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if (_mesh != null)
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{
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// Cleanup meshing here
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}
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// Construction of new prim
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if (this._parent_scene.needsMeshing(_pbs))
|
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{
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Mesh mesh = Meshmerizer.CreateMesh(oldname, _pbs, _size);
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setMesh(_parent_scene, mesh);
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} else {
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prim_geom = d.CreateBox(_parent_scene.space, _size.X, _size.Y, _size.Z);
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}
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_parent_scene.geom_name_map[prim_geom] = oldname;
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d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
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d.Quaternion myrot = new d.Quaternion();
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myrot.W = _orientation.w;
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myrot.X = _orientation.x;
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myrot.Y = _orientation.y;
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myrot.Z = _orientation.z;
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d.GeomSetQuaternion(prim_geom, ref myrot);
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|
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}
|
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}
|
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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 { return _velocity; }
|
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set { _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 { return false; }
|
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set { }
|
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}
|
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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
|
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{
|
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_orientation = value;
|
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lock (OdeScene.OdeLock)
|
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{
|
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d.Quaternion myrot = new d.Quaternion();
|
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myrot.W = _orientation.w;
|
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myrot.X = _orientation.x;
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myrot.Y = _orientation.y;
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myrot.Z = _orientation.z;
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d.GeomSetQuaternion(prim_geom, ref myrot);
|
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}
|
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}
|
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}
|
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|
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public override PhysicsVector Acceleration
|
|
{
|
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get { return _acceleration; }
|
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}
|
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|
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public void SetAcceleration(PhysicsVector accel)
|
|
{
|
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_acceleration = accel;
|
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}
|
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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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}
|
|
}
|
|
}
|