/// <summary>
/// Constructor.
/// Initializes default values for various materials. The default
/// values are from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
/// <summary>
public RemotePhysicsMaterialLibrary(RemotePhysicsConfiguration config)
{
float defaultDensity;
// Retrieve the default density for objects
defaultDensity = config.DefaultDensity;
// Initialize each of the default material attributes using the
// values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
m_attributes[(int)Material.Stone] = new
RemotePhysicsMaterialAttributes("Stone", defaultDensity, 0.8f,
0.4f);
m_attributes[(int)Material.Metal] = new
RemotePhysicsMaterialAttributes("Metal", defaultDensity, 0.3f,
0.4f);
m_attributes[(int)Material.Glass] = new
RemotePhysicsMaterialAttributes("Glass", defaultDensity, 0.2f,
0.7f);
m_attributes[(int)Material.Wood] = new
RemotePhysicsMaterialAttributes("Wood", defaultDensity, 0.6f,
0.5f);
m_attributes[(int)Material.Flesh] = new
RemotePhysicsMaterialAttributes("Flesh", defaultDensity, 0.9f,
0.3f);
m_attributes[(int)Material.Plastic] = new
RemotePhysicsMaterialAttributes("Plastic", defaultDensity, 0.4f,
0.7f);
m_attributes[(int)Material.Rubber] = new
RemotePhysicsMaterialAttributes("Rubber", defaultDensity, 0.9f,
0.9f);
m_attributes[(int)Material.Light] = new
RemotePhysicsMaterialAttributes("Light", defaultDensity,
config.DefaultFriction, config.DefaultRestitution);
}
/// <summary>
/// Constructor of the UDP packet manager.
/// </summary>
public RemotePhysicsUDPPacketManager(RemotePhysicsConfiguration config)
{
IPAddress remoteAddress;
// Configure the connection point using configuration address
// and port
remoteAddress = IPAddress.Parse(config.RemoteAddress);
m_remoteHost = new IPEndPoint(remoteAddress, config.RemotePort);
// Create the UDP client that will be used to communicate with the
// remote physics engine
m_udpClient = new UdpClient();
// Check to see if the configuration states whether this packet
// manager should use its own internal update thread
m_useInternalThread = config.PacketManagerInternalThread;
if (m_useInternalThread)
{
// Create the thread that will send and receive messages from
// the remote physics engine
m_updateThread = new Thread(new ThreadStart(RunUpdate));
m_updateThread.Priority = ThreadPriority.AboveNormal;
m_updateThread.Start();
}
}
/// <summary>
/// Constructor of the TCP packet manager.
/// </summary>
/// <param name="config">The configuration which is used to
/// initialize the packet manager</param>
public RemotePhysicsTCPPacketManager(RemotePhysicsConfiguration config)
{
IPAddress remoteAddress;
IPEndPoint remoteEP;
// Create the incoming/outgoing packet threads and locks
m_incomingPackets = new Queue <byte[]>();
m_outgoingPackets = new Queue <byte[]>();
m_outgoingMutex = new Mutex();
m_incomingMutex = new Mutex();
// Configure the connection point using the configuration address
// and port
remoteAddress = IPAddress.Parse(config.RemoteAddress);
remoteEP = new IPEndPoint(remoteAddress, config.RemotePort);
// Create the socket that will allow for communication with the
// remote physics engine
m_remoteSocket = new Socket(AddressFamily.InterNetwork,
SocketType.Stream, ProtocolType.Tcp);
// Initialize the synchronization event used to block this
// thread during the connection process
connectDone = new ManualResetEvent(false);
// Start the connection to the remote physics engine
m_remoteSocket.BeginConnect(remoteEP,
new AsyncCallback(ConnectCallback), m_remoteSocket);
// Block the thread until the connection is complete
connectDone.WaitOne();
// Initialize the buffer that will be used for reading messages
// from the remote physics engine
m_readBuffer = new byte[m_receiveBufferLength];
// Initialize the buffer that will be used to hold messages whose
// data overflow the read buffer
m_overflowBuffer = new byte[m_receiveBufferLength];
// Check to see if the configuration states that this packet
// manager should use its own internal thread
m_useInternalThread = config.PacketManagerInternalThread;
if (m_useInternalThread)
{
// Create thread that will send and receive messages from the
// remote server
m_updateThread = new Thread(new ThreadStart(RunUpdate));
m_updateThread.Start();
}
// Initialize the header length and packet length offset to
// their defaults
m_headerSize = m_defaultHeaderSize;
m_packetLengthOffset = m_defaultPacketLengthOffset;
}
/// <summary>
/// Constructor.
/// </summary>
/// <param name="parentScene">The scene to which this object
/// belongs</param>
/// <param name="localID">The unique identifier of the object</param>
/// <param name="name">The name of the object</param>
/// <param name="typeName">The type of the object</param>
/// <param name="config">The configuration used to initialize this
/// object</param>
protected RemotePhysicsObject(RemotePhysicsScene parentScene,
uint localID, String name, String typeName,
RemotePhysicsConfiguration config)
{
// Initialize the parent physics scene
ParentScene = parentScene;
// Indicate that this object has not been fully initialized
IsInitialized = false;
// Initialize the handle to the configuration that will be used
// initialize other properties
ParentConfiguration = config;
// Initialize the local ID of this object
LocalID = localID;
// Initialize the name of this physics object
// Usually this is the same name as the OpenSim object
Name = name;
// Initialize the type of this object in string form
TypeName = typeName;
// Initialize the gravity modifier to be 1.0, so that the
// gravity of the scene will be unmodified when it affects
// this object
GravModifier = 1.0f;
// Initialize the gravity vector
Gravity = new OpenMetaverse.Vector3(0.0f, 0.0f, config.Gravity);
// Indicate that the object is not hovering
HoverActive = false;
// Create the list of pending and sent collisions
Collisions = new CollisionEventUpdate();
CollisionsLastReported = Collisions;
// Initialize the collision steps to be invalid steps, since no
// collision has occurred yet
GroundCollisionStep = RemotePhysicsScene.InvalidStep;
ObjectCollisionStep = RemotePhysicsScene.InvalidStep;
LastCollisionStep = RemotePhysicsScene.InvalidStep;
// No collisions have occurred, so start the collision count at 0
NumCollisions = 0;
// Initialize the object that will ensure the thread safety of the
// collision step data
m_collisionStepLock = new Object();
}
/// <summary>
/// Constructor.
/// </summary>
/// <param name="identifier">The name of this scene</param>
public RemotePhysicsScene(string identifier)
{
// Indicate that the scene has yet to be initialized
m_initialized = false;
// Store the name of the region that will be represented by this
// physics scene
RegionName = identifier;
// Create the configuration with the default values
RemoteConfiguration = new RemotePhysicsConfiguration();
// Create the list that will hold the delegates of tainted actors
m_taintCallbacks = new List <ActorTaintCallback>();
// Create the mutex object that will keep the taint callback list
// thread-safe
m_taintListLock = new Object();
// Create the material library that will track various material
// archetypes
MaterialLibrary = new RemotePhysicsMaterialLibrary(
RemoteConfiguration);
}
/// <summary>
/// Constructor.
/// </summary>
/// <param name="localID">The unique identifier of the avatar</param>
/// <param name="avatarName">The name of the avatar</param>
/// <param name="parentScene">The physics scene to which the avatar
/// belongs</param>
/// <param name="position">The initial position of the avatar</param>
/// <param name="velocity">The initial linear velocity of the
/// avatar</param>
/// <param name="size">The size of the avatar</param>
/// <param name="isFlying">Whether the avatar is flying or not</param>
/// <param name="config">The configuration used to initialize the
/// avatar</param>
public RemotePhysicsAvatar(uint localID, String avatarName,
RemotePhysicsScene parentScene, OpenMetaverse.Vector3 position,
OpenMetaverse.Vector3 velocity, OpenMetaverse.Vector3 size,
bool isFlying, RemotePhysicsConfiguration config)
: base(parentScene, localID, avatarName,
"RemotePhysicsCharacter", config)
{
OpenMetaverse.Quaternion localPoseQuat;
// Initialize the unique ID of this avatar
m_actorID = localID;
// Indicate that this object is an avatar
m_actorType = (int)ActorTypes.Agent;
// Initialize the position to what's given
Position = position;
// Initialize the orientation to the default value
Orientation = OpenMetaverse.Quaternion.Identity;
// Initialize the velocity based on what's given
m_velocity = velocity;
// Initialize the friction values based on the parent scene's
// friction coefficient for avatars
Friction = ParentConfiguration.AvatarKineticFriction;
m_kineticFriction = ParentConfiguration.AvatarKineticFriction;
m_staticFriction = ParentConfiguration.AvatarStaticFriction;
// Initialize the density based on the parent scene's density
// value for avatars
Density = ParentConfiguration.AvatarDensity;
// Initialize the size of this avatar using the given size
m_size = size;
// Check to see if any of the dimensions are zero
// If they are, use the default sizes
if (m_size.X == 0.0f)
{
m_size.X = ParentConfiguration.AvatarShapeDepth;
}
if (m_size.Y == 0.0f)
{
m_size.Y = ParentConfiguration.AvatarShapeWidth;
}
if (m_size.Z == 0.0f)
{
m_size.Z = ParentConfiguration.AvatarShapeHeight;
}
// Compute the mass of the avatar, so that it can be referenced
// for later computations
ComputeAvatarMass();
// Send out a message to the remote physics engine to create an
// actor
ParentScene.RemoteMessenger.CreateDynamicActor(m_actorID, Position,
Orientation, 1.0f, m_velocity,
new OpenMetaverse.Vector3(0.0f, 0.0f, 0.0f), true);
// Fetch a unique identifier for this avatar's shape
m_avatarShapeID = ParentScene.GetNewShapeID();
// Build the avatar's shape in the remote physics engine
BuildAvatarShape();
// Add a constraint between the new actor and ground plane such
// that the actor doesn't fall over on its side due to gravity
// Use an unused actor ID to denote that this joint is between the
// avatar and the world frame
m_fallJointID = ParentScene.GetNewJointID();
ParentScene.RemoteMessenger.AddJoint(m_fallJointID, m_actorID,
OpenMetaverse.Vector3.Zero, OpenMetaverse.Quaternion.Identity,
ParentScene.GetNewActorID(), OpenMetaverse.Vector3.Zero,
OpenMetaverse.Quaternion.Identity,
new OpenMetaverse.Vector3(1.0f, 1.0f, 1.0f),
new OpenMetaverse.Vector3(0.0f, 0.0f, 0.0f),
new OpenMetaverse.Vector3(0.0f, 0.0f, 0.0f),
new OpenMetaverse.Vector3(0.0f, 0.0f, 0.0f));
// Indicate that this object is now initialized
IsInitialized = true;
}