internal static PhysicsProperties DeserializeOrCreateNew(PhysxScene scene, IMaterial fallbackMaterial, byte[] serializedProperties)
{
PhysicsProperties properties = null;
if (serializedProperties != null)
{
try
{
using (System.IO.MemoryStream ms = new System.IO.MemoryStream(serializedProperties))
{
properties = ProtoBuf.Serializer.Deserialize <PhysicsProperties>(ms);
}
properties.FillMaterialFromDesc(scene.SceneImpl.Physics);
return(properties);
}
catch (Exception e)
{
//unable to deserialize physics properties, fallthrough
m_log.ErrorFormat("[InWorldz.PhysxX] PhysicsProperties.DeserializeOrCreateNew: Deserialization failed, falling back to defaults: {0}", e);
}
}
properties = new PhysicsProperties();
properties.Material = fallbackMaterial;
return(properties);
}
private static void SetCommonProperties(PhysxScene scene, PhysicsShape shape, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation, PhysX.RigidActor physActor,
bool physical, Material material)
{
shape.AssignToActor(physActor, material.PhyMaterial, physical);
physActor.GlobalPose =
PhysX.Math.Matrix.RotationQuaternion(new PhysX.Math.Quaternion(rotation.X, rotation.Y, rotation.Z, rotation.W)) *
PhysX.Math.Matrix.Translation(position.X, position.Y, position.Z);
}
/// <summary>
/// Creates a new PhysX.RigidStatic using our defaults
/// </summary>
/// <param name="shape"></param>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <returns></returns>
public static PhysX.RigidStatic CreateRigidStatic(PhysxScene scene, PhysicsShape shape, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation,
Material material)
{
PhysX.RigidStatic physActor = scene.SceneImpl.Physics.CreateRigidStatic();
SetCommonProperties(scene, shape, position, rotation, physActor, false, material);
return(physActor);
}
public PhysicsScene GetScene(string sceneIdentifier)
{
//no lock needed, only called during an init
PhysicsScene scene;
if (_scenes.TryGetValue(sceneIdentifier, out scene))
{
return(scene);
}
else
{
scene = new PhysxScene();
_scenes.Add(sceneIdentifier, scene);
return(scene);
}
}
/// <summary>
/// Creates a new PhysX.RigidDynamic using our defaults
/// </summary>
/// <param name="shape"></param>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <returns></returns>
public static PhysX.RigidDynamic CreateRigidDynamic(PhysxScene scene, PhysicsShape shape, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation,
bool physical, bool kinematic, Material material)
{
PhysX.RigidDynamic physActor = scene.SceneImpl.Physics.CreateRigidDynamic();
if (kinematic) physActor.Flags |= PhysX.RigidDynamicFlags.Kinematic;
SetCommonProperties(scene, shape, position, rotation, physActor, physical, material);
if (physical)
{
physActor.UpdateMassAndInertia(material.Density);
physActor.MaxAngularVelocity *= 4;
physActor.AngularDamping = DEFAULT_ANGULAR_DAMPING;
physActor.LinearDamping = DEFAULT_LINEAR_DAMPING;
}
physActor.SleepThreshold = SLEEP_THRESHOLD;
return physActor;
}
/// <summary>
/// Creates a new PhysX.RigidDynamic using our defaults
/// </summary>
/// <param name="shape"></param>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <returns></returns>
public static PhysX.RigidDynamic CreateRigidDynamic(PhysxScene scene, PhysicsShape shape, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation,
bool physical, bool kinematic, Material material)
{
PhysX.RigidDynamic physActor = scene.SceneImpl.Physics.CreateRigidDynamic();
if (kinematic)
{
physActor.Flags |= PhysX.RigidDynamicFlags.Kinematic;
}
SetCommonProperties(scene, shape, position, rotation, physActor, physical, material);
if (physical)
{
physActor.UpdateMassAndInertia(material.Density);
physActor.MaxAngularVelocity *= 4;
physActor.AngularDamping = DEFAULT_ANGULAR_DAMPING;
physActor.LinearDamping = DEFAULT_LINEAR_DAMPING;
}
physActor.SleepThreshold = SLEEP_THRESHOLD;
return(physActor);
}
private void GetRayCastResults(OpenMetaverse.Vector3 start, OpenMetaverse.Vector3 direction,
float distance, int hitAmounts, Action<List<ContactResult>> result, PhysxScene scene)
{
int buffercount = 16;
int maxbuffercount = 1024;
PhysX.RaycastHit[] hits = null;
direction = OpenMetaverse.Vector3.Normalize(direction);
//Increase the buffer count if the call indicates overflow. Prevent infinite loops.
while (hits == null && buffercount <= maxbuffercount)
{
hits = SceneImpl.RaycastMultiple(PhysUtil.OmvVectorToPhysx(start),
PhysUtil.OmvVectorToPhysx(direction),
distance, PhysX.SceneQueryFlags.All,
buffercount,
null);
buffercount *= 2;
}
List<ContactResult> contactResults = new List<ContactResult>();
if (hits != null)
{
List<PhysX.RaycastHit> hitsSorted = new List<PhysX.RaycastHit>(hits);
hitsSorted.Sort((a, b) => a.Distance.CompareTo(b.Distance));
int count = 0;
foreach (PhysX.RaycastHit hit in hitsSorted)
{
contactResults.Add(new ContactResult()
{
Distance = hit.Distance,
FaceIndex = hit.FaceIndex,
CollisionActor = hit.Shape.Actor.UserData as PhysicsActor,
Position = PhysUtil.PhysxVectorToOmv(hit.Impact),
Normal = PhysUtil.PhysxVectorToOmv(hit.Normal),
});
if (++count >= hitAmounts)
break;
}
}
result(contactResults);
}
private void GetRayCastResults(OpenMetaverse.Vector3 start, OpenMetaverse.Vector3 direction,
float distance, int hitAmounts, Action <List <ContactResult> > result, PhysxScene scene)
{
int buffercount = 16;
int maxbuffercount = 1024;
PhysX.RaycastHit[] hits = null;
direction = OpenMetaverse.Vector3.Normalize(direction);
//Increase the buffer count if the call indicates overflow. Prevent infinite loops.
while (hits == null && buffercount <= maxbuffercount)
{
hits = SceneImpl.RaycastMultiple(PhysUtil.OmvVectorToPhysx(start),
PhysUtil.OmvVectorToPhysx(direction),
distance, PhysX.SceneQueryFlags.All,
buffercount,
null);
buffercount *= 2;
}
List <ContactResult> contactResults = new List <ContactResult>();
if (hits != null)
{
List <PhysX.RaycastHit> hitsSorted = new List <PhysX.RaycastHit>(hits);
hitsSorted.Sort((a, b) => a.Distance.CompareTo(b.Distance));
int count = 0;
foreach (PhysX.RaycastHit hit in hitsSorted)
{
contactResults.Add(new ContactResult()
{
Distance = hit.Distance,
FaceIndex = hit.FaceIndex,
CollisionActor = hit.Shape.Actor.UserData as PhysicsActor,
Position = PhysUtil.PhysxVectorToOmv(hit.Impact),
Normal = PhysUtil.PhysxVectorToOmv(hit.Normal),
});
if (++count >= hitAmounts)
{
break;
}
}
}
result(contactResults);
}
public PhysxCharacter(PhysxScene scene, float height, float radius,
OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation,
bool flying, OpenMetaverse.Vector3 initialVelocity)
{
_scene = scene;
_radius = Math.Max(radius, 0.2f);
/*
* The capsule is defined as a position, a vertical height, and a radius. The height is the distance between the
* two sphere centers at the end of the capsule. In other words:
*
* p = pos (returned by controller)
* h = height
* r = radius
*
* p = center of capsule
* top sphere center = p.y + h*0.5
* bottom sphere center = p.y - h*0.5
* top capsule point = p.y + h*0.5 + r
* bottom capsule point = p.y - h*0.5 - r
*/
_height = height;
_flying = flying;
float volume = (float)(Math.PI * Math.Pow(_radius, 2) * this.CapsuleHeight);
_mass = CHARACTER_DENSITY * volume;
_position = position;
_rotation = rotation;
_hitReportDelegator = new UserControllerHitReportDelegator();
_hitReportDelegator.OnShapeHitCallback += this.OnShapeHit;
_hitReportDelegator.OnControllerHitCallback += this.OnControllerHit;
PhysX.CapsuleControllerDesc controllerDesc = new PhysX.CapsuleControllerDesc
{
Height = this.CapsuleHeight,
Radius = _radius,
StepOffset = STEP_OFFSET,
UpDirection = new PhysX.Math.Vector3(0.0f, 0.0f, 1.0f),
Position = PhysUtil.OmvVectorToPhysx(position),
Material = scene.DEFAULT_MATERIAL,
InteractionMode = PhysX.CCTInteractionMode.Include,
SlopeLimit = (float)Math.Cos(OpenMetaverse.Utils.DEG_TO_RAD * MAX_WALKABLE_SLOPE),
ContactOffset = CONTACT_OFFSET,
Callback = _hitReportDelegator,
BehaviorCallback = _rideOnBehavior
};
_controller = _scene.ControllerManager.CreateController<PhysX.CapsuleController>(controllerDesc);
_controller.Actor.UserData = this;
DoZDepenetration();
_controller.ShapeFilterData = CollisionGroup.GetFilterData((uint)(PhysX.PairFlag.NotifyTouchFound | PhysX.PairFlag.NotifyTouchLost),
0, CollisionGroupFlag.Character);
_lastSync = (uint)Environment.TickCount;
_vTarget = initialVelocity;
_velocity = initialVelocity;
if (_vTarget != OpenMetaverse.Vector3.Zero)
{
//hack to continue at velocity until the controller picks up
_lastVelocityNonZero = OpenSim.Framework.Util.GetLongTickCount() - VELOCITY_RAMPUP_TIME;
}
}
public PhysxPrim(PhysxPrim parent, PhysxScene scene, PrimitiveBaseShape baseShape, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rotation, PhysicsShape myShape, PhysX.RigidActor myActor,
bool isPhysical, IPhysicsProperties properties, CollisionGroupFlag collisionGroup)
{
_parentPrim = parent;
_scene = scene;
_pbs = baseShape;
_position = pos;
_rotation = rotation;
_isPhysical = isPhysical;
_properties = (PhysicsProperties)properties;
_collisionGroup = collisionGroup;
this.AssignActor(myActor, myShape, _isPhysical, DeleteActorFlags.None);
if (_properties.VehicleProps != null && _properties.VehicleProps.Type != VehicleType.None)
{
//init dynamics
CheckCreateVehicleDynamics();
}
}
public PhysxPrim(PhysxScene scene, PrimitiveBaseShape baseShape, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rotation, PhysicsShape myShape, PhysX.RigidActor myActor,
bool isPhysical, IPhysicsProperties properties, CollisionGroupFlag collisionGroup)
: this(null, scene, baseShape, pos, rotation, myShape, myActor, isPhysical, properties, collisionGroup)
{
}
public static PhysX.RigidActor CreateProperInitialActor(PhysicsShape meshedShape, PhysxScene scene, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rotation, PhysicsScene.AddPrimShapeFlags flags, out bool kinematicStatic,
Material material)
{
bool isPhysical = (flags & PhysicsScene.AddPrimShapeFlags.Physical) != 0;
kinematicStatic = false;
PhysX.RigidActor actor;
if (isPhysical)
{
actor = PhysxActorFactory.CreateRigidDynamic(scene, meshedShape, pos, rotation, isPhysical, kinematicStatic, material);
}
else
{
if ((flags & PhysicsScene.AddPrimShapeFlags.FromSceneStartup) != 0)
{
actor = PhysxActorFactory.CreateRigidStatic(scene, meshedShape, pos, rotation, material);
}
else
{
kinematicStatic = true;
actor = PhysxActorFactory.CreateRigidDynamic(scene, meshedShape, pos, rotation, isPhysical, kinematicStatic, material);
}
}
return(actor);
}
internal static PhysicsProperties DeserializeOrCreateNew(PhysxScene scene, IMaterial fallbackMaterial, byte[] serializedProperties)
{
PhysicsProperties properties = null;
if (serializedProperties != null)
{
try
{
using (System.IO.MemoryStream ms = new System.IO.MemoryStream(serializedProperties))
{
properties = ProtoBuf.Serializer.Deserialize<PhysicsProperties>(ms);
}
properties.FillMaterialFromDesc(scene.SceneImpl.Physics);
return properties;
}
catch (Exception e)
{
//unable to deserialize physics properties, fallthrough
m_log.ErrorFormat("[InWorldz.PhysxX] PhysicsProperties.DeserializeOrCreateNew: Deserialization failed, falling back to defaults: {0}", e);
}
}
properties = new PhysicsProperties();
properties.Material = fallbackMaterial;
return properties;
}
private static void SetCommonProperties(PhysxScene scene, PhysicsShape shape, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation, PhysX.RigidActor physActor,
bool physical, Material material)
{
shape.AssignToActor(physActor, material.PhyMaterial, physical);
physActor.GlobalPose =
PhysX.Math.Matrix.RotationQuaternion(new PhysX.Math.Quaternion(rotation.X, rotation.Y, rotation.Z, rotation.W)) *
PhysX.Math.Matrix.Translation(position.X, position.Y, position.Z);
}
/// <summary>
/// Creates a new PhysX.RigidStatic using our defaults
/// </summary>
/// <param name="shape"></param>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <returns></returns>
public static PhysX.RigidStatic CreateRigidStatic(PhysxScene scene, PhysicsShape shape, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation,
Material material)
{
PhysX.RigidStatic physActor = scene.SceneImpl.Physics.CreateRigidStatic();
SetCommonProperties(scene, shape, position, rotation, physActor, false, material);
return physActor;
}
public static PhysX.RigidActor CreateProperInitialActor(PhysicsShape meshedShape, PhysxScene scene, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rotation, PhysicsScene.AddPrimShapeFlags flags, out bool kinematicStatic,
Material material)
{
bool isPhysical = (flags & PhysicsScene.AddPrimShapeFlags.Physical) != 0;
kinematicStatic = false;
PhysX.RigidActor actor;
if (isPhysical)
{
actor = PhysxActorFactory.CreateRigidDynamic(scene, meshedShape, pos, rotation, isPhysical, kinematicStatic, material);
}
else
{
if ((flags & PhysicsScene.AddPrimShapeFlags.FromSceneStartup) != 0)
{
actor = PhysxActorFactory.CreateRigidStatic(scene, meshedShape, pos, rotation, material);
}
else
{
kinematicStatic = true;
actor = PhysxActorFactory.CreateRigidDynamic(scene, meshedShape, pos, rotation, isPhysical, kinematicStatic, material);
}
}
return actor;
}
