377 lines
7.7 KiB
C#
377 lines
7.7 KiB
C#
/*
|
|
* Copyright (c) OpenSim project, http://sim.opensecondlife.org/
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions are met:
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in the
|
|
* documentation and/or other materials provided with the distribution.
|
|
* * Neither the name of the <organization> nor the
|
|
* names of its contributors may be used to endorse or promote products
|
|
* derived from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``AS IS'' AND ANY
|
|
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
* DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY
|
|
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
*/
|
|
using System;
|
|
using System.Collections.Generic;
|
|
using OpenSim.Physics.Manager;
|
|
using Ode.NET;
|
|
|
|
namespace OpenSim.Physics.OdePlugin
|
|
{
|
|
/// <summary>
|
|
/// ODE plugin
|
|
/// </summary>
|
|
public class OdePlugin : IPhysicsPlugin
|
|
{
|
|
private OdeScene _mScene;
|
|
|
|
public OdePlugin()
|
|
{
|
|
|
|
}
|
|
|
|
public bool Init()
|
|
{
|
|
return true;
|
|
}
|
|
|
|
public PhysicsScene GetScene()
|
|
{
|
|
if(_mScene == null)
|
|
{
|
|
_mScene = new OdeScene();
|
|
}
|
|
return(_mScene);
|
|
}
|
|
|
|
public string GetName()
|
|
{
|
|
return("OpenDynamicsEngine");
|
|
}
|
|
|
|
public void Dispose()
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
public class OdeScene :PhysicsScene
|
|
{
|
|
private IntPtr world;
|
|
private IntPtr space;
|
|
private IntPtr contactgroup;
|
|
private double[] _heightmap;
|
|
|
|
public OdeScene()
|
|
{
|
|
world = d.WorldCreate();
|
|
space = d.HashSpaceCreate(IntPtr.Zero);
|
|
contactgroup = d.JointGroupCreate(0);
|
|
d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
|
|
d.WorldSetCFM(world, 1e-5f);
|
|
d.WorldSetAutoDisableFlag(world, true);
|
|
d.WorldSetContactMaxCorrectingVel(world, 0.1f);
|
|
d.WorldSetContactSurfaceLayer(world, 0.001f);
|
|
this._heightmap=new double[65536];
|
|
}
|
|
|
|
public override PhysicsActor AddAvatar(PhysicsVector position)
|
|
{
|
|
PhysicsVector pos = new PhysicsVector();
|
|
pos.X = position.X;
|
|
pos.Y = position.Y;
|
|
pos.Z = position.Z;
|
|
return new OdeCharacter();
|
|
}
|
|
|
|
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
|
|
{
|
|
PhysicsVector pos = new PhysicsVector();
|
|
pos.X = position.X;
|
|
pos.Y = position.Y;
|
|
pos.Z = position.Z;
|
|
PhysicsVector siz = new PhysicsVector();
|
|
siz.X = size.X;
|
|
siz.Y = size.Y;
|
|
siz.Z = size.Z;
|
|
return new OdePrim();
|
|
}
|
|
|
|
public override void Simulate(float timeStep)
|
|
{
|
|
|
|
}
|
|
|
|
public override void GetResults()
|
|
{
|
|
|
|
}
|
|
|
|
public override bool IsThreaded
|
|
{
|
|
get
|
|
{
|
|
return(false); // for now we won't be multithreaded
|
|
}
|
|
}
|
|
|
|
public override void SetTerrain(float[] heightMap)
|
|
{
|
|
for(int i=0; i<65536; i++) {
|
|
this._heightmap[i]=(double)heightMap[i];
|
|
}
|
|
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
|
|
d.GeomHeightfieldDataBuildDouble(HeightmapData,_heightmap,1,256,256,256,256,1.0f,0.0f,2.0f,0);
|
|
d.CreateHeightfield(space, HeightmapData, 0);
|
|
}
|
|
}
|
|
|
|
public class OdeCharacter : PhysicsActor
|
|
{
|
|
private PhysicsVector _position;
|
|
private PhysicsVector _velocity;
|
|
private PhysicsVector _acceleration;
|
|
private bool flying;
|
|
private float gravityAccel;
|
|
|
|
public OdeCharacter()
|
|
{
|
|
_velocity = new PhysicsVector();
|
|
_position = new PhysicsVector();
|
|
_acceleration = new PhysicsVector();
|
|
}
|
|
|
|
public override bool Flying
|
|
{
|
|
get
|
|
{
|
|
return flying;
|
|
}
|
|
set
|
|
{
|
|
flying = value;
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Position
|
|
{
|
|
get
|
|
{
|
|
return _position;
|
|
}
|
|
set
|
|
{
|
|
_position = value;
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Velocity
|
|
{
|
|
get
|
|
{
|
|
return _velocity;
|
|
}
|
|
set
|
|
{
|
|
_velocity = value;
|
|
}
|
|
}
|
|
|
|
public override bool Kinematic
|
|
{
|
|
get
|
|
{
|
|
return false;
|
|
}
|
|
set
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
public override Axiom.MathLib.Quaternion Orientation
|
|
{
|
|
get
|
|
{
|
|
return Axiom.MathLib.Quaternion.Identity;
|
|
}
|
|
set
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Acceleration
|
|
{
|
|
get
|
|
{
|
|
return _acceleration;
|
|
}
|
|
|
|
}
|
|
public void SetAcceleration (PhysicsVector accel)
|
|
{
|
|
this._acceleration = accel;
|
|
}
|
|
|
|
public override void AddForce(PhysicsVector force)
|
|
{
|
|
|
|
}
|
|
|
|
public override void SetMomentum(PhysicsVector momentum)
|
|
{
|
|
|
|
}
|
|
|
|
public void Move(float timeStep)
|
|
{
|
|
PhysicsVector vec = new PhysicsVector();
|
|
vec.X = this._velocity.X * timeStep;
|
|
vec.Y = this._velocity.Y * timeStep;
|
|
if(flying)
|
|
{
|
|
vec.Z = ( this._velocity.Z) * timeStep;
|
|
}
|
|
else
|
|
{
|
|
gravityAccel+= -9.8f;
|
|
vec.Z = (gravityAccel + this._velocity.Z) * timeStep;
|
|
}
|
|
//int res = this._character.Move(vec);
|
|
//if(res == 1)
|
|
//{
|
|
// gravityAccel = 0;
|
|
//}
|
|
}
|
|
|
|
public void UpdatePosition()
|
|
{
|
|
}
|
|
}
|
|
|
|
public class OdePrim : PhysicsActor
|
|
{
|
|
private PhysicsVector _position;
|
|
private PhysicsVector _velocity;
|
|
private PhysicsVector _acceleration;
|
|
|
|
public OdePrim()
|
|
{
|
|
_velocity = new PhysicsVector();
|
|
_position = new PhysicsVector();
|
|
_acceleration = new PhysicsVector();
|
|
}
|
|
public override bool Flying
|
|
{
|
|
get
|
|
{
|
|
return false; //no flying prims for you
|
|
}
|
|
set
|
|
{
|
|
|
|
}
|
|
}
|
|
public override PhysicsVector Position
|
|
{
|
|
get
|
|
{
|
|
PhysicsVector pos = new PhysicsVector();
|
|
//PhysicsVector vec = this._prim.Position;
|
|
//pos.X = vec.X;
|
|
//pos.Y = vec.Y;
|
|
//pos.Z = vec.Z;
|
|
return pos;
|
|
|
|
}
|
|
set
|
|
{
|
|
/*PhysicsVector vec = value;
|
|
PhysicsVector pos = new PhysicsVector();
|
|
pos.X = vec.X;
|
|
pos.Y = vec.Y;
|
|
pos.Z = vec.Z;
|
|
this._prim.Position = pos;*/
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Velocity
|
|
{
|
|
get
|
|
{
|
|
return _velocity;
|
|
}
|
|
set
|
|
{
|
|
_velocity = value;
|
|
}
|
|
}
|
|
|
|
public override bool Kinematic
|
|
{
|
|
get
|
|
{
|
|
return false;
|
|
//return this._prim.Kinematic;
|
|
}
|
|
set
|
|
{
|
|
//this._prim.Kinematic = value;
|
|
}
|
|
}
|
|
|
|
public override Axiom.MathLib.Quaternion Orientation
|
|
{
|
|
get
|
|
{
|
|
Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
|
|
return res;
|
|
}
|
|
set
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Acceleration
|
|
{
|
|
get
|
|
{
|
|
return _acceleration;
|
|
}
|
|
|
|
}
|
|
public void SetAcceleration (PhysicsVector accel)
|
|
{
|
|
this._acceleration = accel;
|
|
}
|
|
|
|
public override void AddForce(PhysicsVector force)
|
|
{
|
|
|
|
}
|
|
|
|
public override void SetMomentum(PhysicsVector momentum)
|
|
{
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
}
|