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Major renaming of Physics dlls / folders. No functional changes, just renames.

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This commit is contained in:
Diva Canto
2015-08-30 20:06:53 -07:00
parent 5648eb7bd1
commit 1d6b33bc2d
108 changed files with 34 additions and 34 deletions
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58
OpenSim/Region/PhysicsModules/SharedBase/AssemblyInfo.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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.Reflection;
using System.Runtime.InteropServices;
// Information about this assembly is defined by the following
// attributes.
//
// change them to the information which is associated with the assembly
// you compile.
[assembly : AssemblyTitle("PhysicsManager")]
[assembly : AssemblyDescription("")]
[assembly : AssemblyConfiguration("")]
[assembly : AssemblyCompany("http://opensimulator.org")]
[assembly : AssemblyProduct("PhysicsManager")]
[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers")]
[assembly : AssemblyTrademark("")]
[assembly : AssemblyCulture("")]
// This sets the default COM visibility of types in the assembly to invisible.
// If you need to expose a type to COM, use [ComVisible(true)] on that type.
[assembly : ComVisible(false)]
// The assembly version has following format :
//
// Major.Minor.Build.Revision
//
// You can specify all values by your own or you can build default build and revision
// numbers with the '*' character (the default):
[assembly : AssemblyVersion("0.8.2.*")]

73
OpenSim/Region/PhysicsModules/SharedBase/CollisionLocker.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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;
namespace OpenSim.Region.Physics.Manager
{
public class CollisionLocker
{
private List<IntPtr> worldlock = new List<IntPtr>();
public CollisionLocker()
{
}
public void dlock(IntPtr world)
{
lock (worldlock)
{
worldlock.Add(world);
}
}
public void dunlock(IntPtr world)
{
lock (worldlock)
{
worldlock.Remove(world);
}
}
public bool lockquery()
{
return (worldlock.Count > 0);
}
public void drelease(IntPtr world)
{
lock (worldlock)
{
if (worldlock.Contains(world))
worldlock.Remove(world);
}
}
}
}

71
OpenSim/Region/PhysicsModules/SharedBase/IMesher.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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.Framework;
using OpenMetaverse;
namespace OpenSim.Region.Physics.Manager
{
public interface IMesher
{
IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache);
}
// Values for level of detail to be passed to the mesher.
// Values origionally chosen for the LOD of sculpties (the sqrt(width*heigth) of sculpt texture)
// Lower level of detail reduces the number of vertices used to represent the meshed shape.
public enum LevelOfDetail
{
High = 32,
Medium = 16,
Low = 8,
VeryLow = 4
}
public interface IVertex
{
}
public interface IMesh
{
List<Vector3> getVertexList();
int[] getIndexListAsInt();
int[] getIndexListAsIntLocked();
float[] getVertexListAsFloat();
float[] getVertexListAsFloatLocked();
void getIndexListAsPtrToIntArray(out IntPtr indices, out int triStride, out int indexCount);
void getVertexListAsPtrToFloatArray(out IntPtr vertexList, out int vertexStride, out int vertexCount);
void releaseSourceMeshData();
void releasePinned();
void Append(IMesh newMesh);
void TransformLinear(float[,] matrix, float[] offset);
}
}

73
OpenSim/Region/PhysicsModules/SharedBase/IPhysicsParameters.cs Executable file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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.Framework;
using OpenMetaverse;
namespace OpenSim.Region.Physics.Manager
{
public struct PhysParameterEntry
{
// flags to say to apply to all or no instances (I wish one could put consts into interfaces)
public const uint APPLY_TO_ALL = 0xfffffff3;
public const uint APPLY_TO_NONE = 0xfffffff4;
// values that denote true and false values
public const float NUMERIC_TRUE = 1f;
public const float NUMERIC_FALSE = 0f;
public string name;
public string desc;
public PhysParameterEntry(string n, string d)
{
name = n;
desc = d;
}
}
// Interface for a physics scene that implements the runtime setting and getting of physics parameters
public interface IPhysicsParameters
{
// Get the list of parameters this physics engine supports
PhysParameterEntry[] GetParameterList();
// Set parameter on a specific or all instances.
// Return 'false' if not able to set the parameter.
bool SetPhysicsParameter(string parm, string value, uint localID);
// Get parameter.
// Return 'false' if not able to get the parameter.
bool GetPhysicsParameter(string parm, out string value);
// Get parameter from a particular object
// TODO:
// bool GetPhysicsParameter(string parm, out string value, uint localID);
}
}

122
OpenSim/Region/PhysicsModules/SharedBase/NullPhysicsScene.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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.Collections.Generic;
using System.Reflection;
using log4net;
using Nini.Config;
using OpenSim.Framework;
using OpenMetaverse;
namespace OpenSim.Region.Physics.Manager
{
class NullPhysicsScene : PhysicsScene
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static int m_workIndicator;
public override void Initialise(IMesher meshmerizer, IConfigSource config)
{
// Does nothing right now
}
public override PhysicsActor AddAvatar(
string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
{
m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddAvatar({0})", position);
return PhysicsActor.Null;
}
public override void RemoveAvatar(PhysicsActor actor)
{
}
public override void RemovePrim(PhysicsActor prim)
{
}
public override void SetWaterLevel(float baseheight)
{
}
/*
public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
{
m_log.InfoFormat("NullPhysicsScene : AddPrim({0},{1})", position, size);
return PhysicsActor.Null;
}
*/
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
{
m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddPrim({0},{1})", position, size);
return PhysicsActor.Null;
}
public override void AddPhysicsActorTaint(PhysicsActor prim)
{
}
public override float Simulate(float timeStep)
{
m_workIndicator = (m_workIndicator + 1) % 10;
return 0f;
}
public override void GetResults()
{
m_log.Info("[PHYSICS]: NullPhysicsScene : GetResults()");
}
public override void SetTerrain(float[] heightMap)
{
m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : SetTerrain({0} items)", heightMap.Length);
}
public override void DeleteTerrain()
{
}
public override bool IsThreaded
{
get { return false; }
}
public override void Dispose()
{
}
public override Dictionary<uint,float> GetTopColliders()
{
Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
return returncolliders;
}
}
}

584
OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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 log4net;
using System;
using System.Collections.Generic;
using System.Reflection;
using OpenSim.Framework;
using OpenMetaverse;
namespace OpenSim.Region.Physics.Manager
{
public delegate void PositionUpdate(Vector3 position);
public delegate void VelocityUpdate(Vector3 velocity);
public delegate void OrientationUpdate(Quaternion orientation);
public enum ActorTypes : int
{
Unknown = 0,
Agent = 1,
Prim = 2,
Ground = 3
}
public enum PIDHoverType
{
Ground,
GroundAndWater,
Water,
Absolute
}
public struct ContactPoint
{
public Vector3 Position;
public Vector3 SurfaceNormal;
public float PenetrationDepth;
public ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth)
{
Position = position;
SurfaceNormal = surfaceNormal;
PenetrationDepth = penetrationDepth;
}
}
/// <summary>
/// Used to pass collision information to OnCollisionUpdate listeners.
/// </summary>
public class CollisionEventUpdate : EventArgs
{
/// <summary>
/// Number of collision events in this update.
/// </summary>
public int Count { get { return m_objCollisionList.Count; } }
public bool CollisionsOnPreviousFrame { get; private set; }
public Dictionary<uint, ContactPoint> m_objCollisionList;
public CollisionEventUpdate(Dictionary<uint, ContactPoint> objCollisionList)
{
m_objCollisionList = objCollisionList;
}
public CollisionEventUpdate()
{
m_objCollisionList = new Dictionary<uint, ContactPoint>();
}
public void AddCollider(uint localID, ContactPoint contact)
{
if (!m_objCollisionList.ContainsKey(localID))
{
m_objCollisionList.Add(localID, contact);
}
else
{
if (m_objCollisionList[localID].PenetrationDepth < contact.PenetrationDepth)
m_objCollisionList[localID] = contact;
}
}
/// <summary>
/// Clear added collision events.
/// </summary>
public void Clear()
{
m_objCollisionList.Clear();
}
}
public abstract class PhysicsActor
{
// private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public delegate void RequestTerseUpdate();
public delegate void CollisionUpdate(EventArgs e);
public delegate void OutOfBounds(Vector3 pos);
// disable warning: public events
#pragma warning disable 67
public event PositionUpdate OnPositionUpdate;
public event VelocityUpdate OnVelocityUpdate;
public event OrientationUpdate OnOrientationUpdate;
public event RequestTerseUpdate OnRequestTerseUpdate;
/// <summary>
/// Subscribers to this event must synchronously handle the dictionary of collisions received, since the event
/// object is reused in subsequent physics frames.
/// </summary>
public event CollisionUpdate OnCollisionUpdate;
public event OutOfBounds OnOutOfBounds;
#pragma warning restore 67
public static PhysicsActor Null
{
get { return new NullPhysicsActor(); }
}
public abstract bool Stopped { get; }
public abstract Vector3 Size { get; set; }
public virtual byte PhysicsShapeType { get; set; }
public abstract PrimitiveBaseShape Shape { set; }
uint m_baseLocalID;
public virtual uint LocalID
{
set { m_baseLocalID = value; }
get { return m_baseLocalID; }
}
public abstract bool Grabbed { set; }
public abstract bool Selected { set; }
/// <summary>
/// Name of this actor.
/// </summary>
/// <remarks>
/// XXX: Bizarrely, this cannot be "Terrain" or "Water" right now unless it really is simulating terrain or
/// water. This is not a problem due to the formatting of names given by prims and avatars.
/// </remarks>
public string Name { get; protected set; }
/// <summary>
/// This is being used by ODE joint code.
/// </summary>
public string SOPName;
public abstract void CrossingFailure();
public abstract void link(PhysicsActor obj);
public abstract void delink();
public abstract void LockAngularMotion(Vector3 axis);
public virtual void RequestPhysicsterseUpdate()
{
// Make a temporary copy of the event to avoid possibility of
// a race condition if the last subscriber unsubscribes
// immediately after the null check and before the event is raised.
RequestTerseUpdate handler = OnRequestTerseUpdate;
if (handler != null)
{
handler();
}
}
public virtual void RaiseOutOfBounds(Vector3 pos)
{
// Make a temporary copy of the event to avoid possibility of
// a race condition if the last subscriber unsubscribes
// immediately after the null check and before the event is raised.
OutOfBounds handler = OnOutOfBounds;
if (handler != null)
{
handler(pos);
}
}
public virtual void SendCollisionUpdate(EventArgs e)
{
CollisionUpdate handler = OnCollisionUpdate;
// m_log.DebugFormat("[PHYSICS ACTOR]: Sending collision for {0}", LocalID);
if (handler != null)
handler(e);
}
public virtual void SetMaterial (int material) { }
public virtual float Density { get; set; }
public virtual float GravModifier { get; set; }
public virtual float Friction { get; set; }
public virtual float Restitution { get; set; }
/// <summary>
/// Position of this actor.
/// </summary>
/// <remarks>
/// Setting this directly moves the actor to a given position.
/// Getting this retrieves the position calculated by physics scene updates, using factors such as velocity and
/// collisions.
/// </remarks>
public abstract Vector3 Position { get; set; }
public abstract float Mass { get; }
public abstract Vector3 Force { get; set; }
public abstract int VehicleType { get; set; }
public abstract void VehicleFloatParam(int param, float value);
public abstract void VehicleVectorParam(int param, Vector3 value);
public abstract void VehicleRotationParam(int param, Quaternion rotation);
public abstract void VehicleFlags(int param, bool remove);
/// <summary>
/// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
/// </summary>
public abstract void SetVolumeDetect(int param);
public abstract Vector3 GeometricCenter { get; }
public abstract Vector3 CenterOfMass { get; }
/// <summary>
/// The desired velocity of this actor.
/// </summary>
/// <remarks>
/// Setting this provides a target velocity for physics scene updates.
/// Getting this returns the last set target. Fetch Velocity to get the current velocity.
/// </remarks>
protected Vector3 m_targetVelocity;
public virtual Vector3 TargetVelocity
{
get { return m_targetVelocity; }
set {
m_targetVelocity = value;
Velocity = m_targetVelocity;
}
}
public abstract Vector3 Velocity { get; set; }
public abstract Vector3 Torque { get; set; }
public abstract float CollisionScore { get; set;}
public abstract Vector3 Acceleration { get; set; }
public abstract Quaternion Orientation { get; set; }
public abstract int PhysicsActorType { get; set; }
public abstract bool IsPhysical { get; set; }
public abstract bool Flying { get; set; }
public abstract bool SetAlwaysRun { get; set; }
public abstract bool ThrottleUpdates { get; set; }
public abstract bool IsColliding { get; set; }
public abstract bool CollidingGround { get; set; }
public abstract bool CollidingObj { get; set; }
public abstract bool FloatOnWater { set; }
public abstract Vector3 RotationalVelocity { get; set; }
public abstract bool Kinematic { get; set; }
public abstract float Buoyancy { get; set; }
// Used for MoveTo
public abstract Vector3 PIDTarget { set; }
public abstract bool PIDActive { get; set; }
public abstract float PIDTau { set; }
// Used for llSetHoverHeight and maybe vehicle height
// Hover Height will override MoveTo target's Z
public abstract bool PIDHoverActive { set;}
public abstract float PIDHoverHeight { set;}
public abstract PIDHoverType PIDHoverType { set;}
public abstract float PIDHoverTau { set;}
// For RotLookAt
public abstract Quaternion APIDTarget { set;}
public abstract bool APIDActive { set;}
public abstract float APIDStrength { set;}
public abstract float APIDDamping { set;}
public abstract void AddForce(Vector3 force, bool pushforce);
public abstract void AddAngularForce(Vector3 force, bool pushforce);
public abstract void SetMomentum(Vector3 momentum);
public abstract void SubscribeEvents(int ms);
public abstract void UnSubscribeEvents();
public abstract bool SubscribedEvents();
// Extendable interface for new, physics engine specific operations
public virtual object Extension(string pFunct, params object[] pParams)
{
// A NOP of the physics engine does not implement this feature
return null;
}
}
public class NullPhysicsActor : PhysicsActor
{
public override bool Stopped
{
get{ return false; }
}
public override Vector3 Position
{
get { return Vector3.Zero; }
set { return; }
}
public override bool SetAlwaysRun
{
get { return false; }
set { return; }
}
public override uint LocalID
{
set { return; }
}
public override bool Grabbed
{
set { return; }
}
public override bool Selected
{
set { return; }
}
public override float Buoyancy
{
get { return 0f; }
set { return; }
}
public override bool FloatOnWater
{
set { return; }
}
public override bool CollidingGround
{
get { return false; }
set { return; }
}
public override bool CollidingObj
{
get { return false; }
set { return; }
}
public override Vector3 Size
{
get { return Vector3.Zero; }
set { return; }
}
public override float Mass
{
get { return 0f; }
}
public override Vector3 Force
{
get { return Vector3.Zero; }
set { return; }
}
public override int VehicleType
{
get { return 0; }
set { return; }
}
public override void VehicleFloatParam(int param, float value)
{
}
public override void VehicleVectorParam(int param, Vector3 value)
{
}
public override void VehicleRotationParam(int param, Quaternion rotation)
{
}
public override void VehicleFlags(int param, bool remove)
{
}
public override void SetVolumeDetect(int param)
{
}
public override void SetMaterial(int material)
{
}
public override Vector3 CenterOfMass
{
get { return Vector3.Zero; }
}
public override Vector3 GeometricCenter
{
get { return Vector3.Zero; }
}
public override PrimitiveBaseShape Shape
{
set { return; }
}
public override Vector3 Velocity
{
get { return Vector3.Zero; }
set { return; }
}
public override Vector3 Torque
{
get { return Vector3.Zero; }
set { return; }
}
public override float CollisionScore
{
get { return 0f; }
set { }
}
public override void CrossingFailure()
{
}
public override Quaternion Orientation
{
get { return Quaternion.Identity; }
set { }
}
public override Vector3 Acceleration
{
get { return Vector3.Zero; }
set { }
}
public override bool IsPhysical
{
get { return false; }
set { return; }
}
public override bool Flying
{
get { return false; }
set { return; }
}
public override bool ThrottleUpdates
{
get { return false; }
set { return; }
}
public override bool IsColliding
{
get { return false; }
set { return; }
}
public override int PhysicsActorType
{
get { return (int) ActorTypes.Unknown; }
set { return; }
}
public override bool Kinematic
{
get { return true; }
set { return; }
}
public override void link(PhysicsActor obj)
{
}
public override void delink()
{
}
public override void LockAngularMotion(Vector3 axis)
{
}
public override void AddForce(Vector3 force, bool pushforce)
{
}
public override void AddAngularForce(Vector3 force, bool pushforce)
{
}
public override Vector3 RotationalVelocity
{
get { return Vector3.Zero; }
set { return; }
}
public override Vector3 PIDTarget { set { return; } }
public override bool PIDActive
{
get { return false; }
set { return; }
}
public override float PIDTau { set { return; } }
public override float PIDHoverHeight { set { return; } }
public override bool PIDHoverActive { set { return; } }
public override PIDHoverType PIDHoverType { set { return; } }
public override float PIDHoverTau { set { return; } }
public override Quaternion APIDTarget { set { return; } }
public override bool APIDActive { set { return; } }
public override float APIDStrength { set { return; } }
public override float APIDDamping { set { return; } }
public override void SetMomentum(Vector3 momentum)
{
}
public override void SubscribeEvents(int ms)
{
}
public override void UnSubscribeEvents()
{
}
public override bool SubscribedEvents()
{
return false;
}
}
}

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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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.Framework;
using OpenMetaverse;
namespace OpenSim.Region.Physics.Manager
{
public enum PhysicsJointType : int
{
Ball = 0,
Hinge = 1
}
public class PhysicsJoint
{
public virtual bool IsInPhysicsEngine { get { return false; } } // set internally to indicate if this joint has already been passed to the physics engine or is still pending
public PhysicsJointType Type;
public string RawParams;
public List<string> BodyNames = new List<string>();
public Vector3 Position; // global coords
public Quaternion Rotation; // global coords
public string ObjectNameInScene; // proxy object in scene that represents the joint position/orientation
public string TrackedBodyName; // body name that this joint is attached to (ObjectNameInScene will follow TrackedBodyName)
public Quaternion LocalRotation; // joint orientation relative to one of the involved bodies, the tracked body
public int ErrorMessageCount; // total # of error messages printed for this joint since its creation. if too many, further error messages are suppressed to prevent flooding.
public const int maxErrorMessages = 100; // no more than this # of error messages will be printed for each joint
}
}

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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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 System.IO;
using System.Reflection;
using Nini.Config;
using log4net;
using OpenSim.Framework;
using OpenMetaverse;
namespace OpenSim.Region.Physics.Manager
{
/// <summary>
/// Description of MyClass.
/// </summary>
public class PhysicsPluginManager
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private Dictionary<string, IPhysicsPlugin> _PhysPlugins = new Dictionary<string, IPhysicsPlugin>();
private Dictionary<string, IMeshingPlugin> _MeshPlugins = new Dictionary<string, IMeshingPlugin>();
/// <summary>
/// Constructor.
/// </summary>
public PhysicsPluginManager()
{
// Load "plugins", that are hard coded and not existing in form of an external lib, and hence always
// available
IMeshingPlugin plugHard;
plugHard = new ZeroMesherPlugin();
_MeshPlugins.Add(plugHard.GetName(), plugHard);
m_log.Info("[PHYSICS]: Added meshing engine: " + plugHard.GetName());
}
/// <summary>
/// Get a physics scene for the given physics engine and mesher.
/// </summary>
/// <param name="physEngineName"></param>
/// <param name="meshEngineName"></param>
/// <param name="config"></param>
/// <returns></returns>
public PhysicsScene GetPhysicsScene(string physEngineName, string meshEngineName,
IConfigSource config, string regionName, Vector3 regionExtent)
{
if (String.IsNullOrEmpty(physEngineName))
{
return PhysicsScene.Null;
}
if (String.IsNullOrEmpty(meshEngineName))
{
return PhysicsScene.Null;
}
IMesher meshEngine = null;
if (_MeshPlugins.ContainsKey(meshEngineName))
{
m_log.Info("[PHYSICS]: creating meshing engine " + meshEngineName);
meshEngine = _MeshPlugins[meshEngineName].GetMesher(config);
}
else
{
m_log.WarnFormat("[PHYSICS]: couldn't find meshingEngine: {0}", meshEngineName);
throw new ArgumentException(String.Format("couldn't find meshingEngine: {0}", meshEngineName));
}
if (_PhysPlugins.ContainsKey(physEngineName))
{
m_log.Info("[PHYSICS]: creating " + physEngineName);
PhysicsScene result = _PhysPlugins[physEngineName].GetScene(regionName);
result.Initialise(meshEngine, config, regionExtent);
return result;
}
else
{
m_log.WarnFormat("[PHYSICS]: couldn't find physicsEngine: {0}", physEngineName);
throw new ArgumentException(String.Format("couldn't find physicsEngine: {0}", physEngineName));
}
}
/// <summary>
/// Load all plugins in assemblies at the given path
/// </summary>
/// <param name="pluginsPath"></param>
public void LoadPluginsFromAssemblies(string assembliesPath)
{
// Walk all assemblies (DLLs effectively) and see if they are home
// of a plugin that is of interest for us
string[] pluginFiles = Directory.GetFiles(assembliesPath, "*.dll");
for (int i = 0; i < pluginFiles.Length; i++)
{
LoadPluginsFromAssembly(pluginFiles[i]);
}
}
/// <summary>
/// Load plugins from an assembly at the given path
/// </summary>
/// <param name="assemblyPath"></param>
public void LoadPluginsFromAssembly(string assemblyPath)
{
// TODO / NOTE
// The assembly named 'OpenSim.Region.Physics.BasicPhysicsPlugin' was loaded from
// 'file:///C:/OpenSim/trunk2/bin/Physics/OpenSim.Region.Physics.BasicPhysicsPlugin.dll'
// using the LoadFrom context. The use of this context can result in unexpected behavior
// for serialization, casting and dependency resolution. In almost all cases, it is recommended
// that the LoadFrom context be avoided. This can be done by installing assemblies in the
// Global Assembly Cache or in the ApplicationBase directory and using Assembly.
// Load when explicitly loading assemblies.
Assembly pluginAssembly = null;
Type[] types = null;
try
{
pluginAssembly = Assembly.LoadFrom(assemblyPath);
}
catch (Exception ex)
{
m_log.Error("[PHYSICS]: Failed to load plugin from " + assemblyPath, ex);
}
if (pluginAssembly != null)
{
try
{
types = pluginAssembly.GetTypes();
}
catch (ReflectionTypeLoadException ex)
{
m_log.Error("[PHYSICS]: Failed to enumerate types in plugin from " + assemblyPath + ": " +
ex.LoaderExceptions[0].Message, ex);
}
catch (Exception ex)
{
m_log.Error("[PHYSICS]: Failed to enumerate types in plugin from " + assemblyPath, ex);
}
if (types != null)
{
foreach (Type pluginType in types)
{
if (pluginType.IsPublic)
{
if (!pluginType.IsAbstract)
{
Type physTypeInterface = pluginType.GetInterface("IPhysicsPlugin");
if (physTypeInterface != null)
{
IPhysicsPlugin plug =
(IPhysicsPlugin)Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString()));
plug.Init();
if (!_PhysPlugins.ContainsKey(plug.GetName()))
{
_PhysPlugins.Add(plug.GetName(), plug);
m_log.Info("[PHYSICS]: Added physics engine: " + plug.GetName());
}
}
Type meshTypeInterface = pluginType.GetInterface("IMeshingPlugin");
if (meshTypeInterface != null)
{
IMeshingPlugin plug =
(IMeshingPlugin)Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString()));
if (!_MeshPlugins.ContainsKey(plug.GetName()))
{
_MeshPlugins.Add(plug.GetName(), plug);
m_log.Info("[PHYSICS]: Added meshing engine: " + plug.GetName());
}
}
physTypeInterface = null;
meshTypeInterface = null;
}
}
}
}
}
pluginAssembly = null;
}
//---
public static void PhysicsPluginMessage(string message, bool isWarning)
{
if (isWarning)
{
m_log.Warn("[PHYSICS]: " + message);
}
else
{
m_log.Info("[PHYSICS]: " + message);
}
}
//---
}
public interface IPhysicsPlugin
{
bool Init();
PhysicsScene GetScene(String sceneIdentifier);
string GetName();
void Dispose();
}
public interface IMeshingPlugin
{
string GetName();
IMesher GetMesher(IConfigSource config);
}
}

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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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 System.Reflection;
using log4net;
using Nini.Config;
using OpenSim.Framework;
using OpenMetaverse;
namespace OpenSim.Region.Physics.Manager
{
public delegate void physicsCrash();
public delegate void RaycastCallback(bool hitYN, Vector3 collisionPoint, uint localid, float distance, Vector3 normal);
public delegate void RayCallback(List<ContactResult> list);
public delegate void JointMoved(PhysicsJoint joint);
public delegate void JointDeactivated(PhysicsJoint joint);
public delegate void JointErrorMessage(PhysicsJoint joint, string message); // this refers to an "error message due to a problem", not "amount of joint constraint violation"
public enum RayFilterFlags : ushort
{
// the flags
water = 0x01,
land = 0x02,
agent = 0x04,
nonphysical = 0x08,
physical = 0x10,
phantom = 0x20,
volumedtc = 0x40,
// ray cast colision control (may only work for meshs)
ContactsUnImportant = 0x2000,
BackFaceCull = 0x4000,
ClosestHit = 0x8000,
// some combinations
LSLPhantom = phantom | volumedtc,
PrimsNonPhantom = nonphysical | physical,
PrimsNonPhantomAgents = nonphysical | physical | agent,
AllPrims = nonphysical | phantom | volumedtc | physical,
AllButLand = agent | nonphysical | physical | phantom | volumedtc,
ClosestAndBackCull = ClosestHit | BackFaceCull,
All = 0x3f
}
public delegate void RequestAssetDelegate(UUID assetID, AssetReceivedDelegate callback);
public delegate void AssetReceivedDelegate(AssetBase asset);
/// <summary>
/// Contact result from a raycast.
/// </summary>
public struct ContactResult
{
public Vector3 Pos;
public float Depth;
public uint ConsumerID;
public Vector3 Normal;
}
public abstract class PhysicsScene
{
// private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
/// <summary>
/// A unique identifying string for this instance of the physics engine.
/// Useful in debug messages to distinguish one OdeScene instance from another.
/// Usually set to include the region name that the physics engine is acting for.
/// </summary>
public string Name { get; protected set; }
/// <summary>
/// A string identifying the family of this physics engine. Most common values returned
/// are "OpenDynamicsEngine" and "BulletSim" but others are possible.
/// </summary>
public string EngineType { get; protected set; }
// The only thing that should register for this event is the SceneGraph
// Anything else could cause problems.
public event physicsCrash OnPhysicsCrash;
public static PhysicsScene Null
{
get { return new NullPhysicsScene(); }
}
public RequestAssetDelegate RequestAssetMethod { get; set; }
public virtual void TriggerPhysicsBasedRestart()
{
physicsCrash handler = OnPhysicsCrash;
if (handler != null)
{
OnPhysicsCrash();
}
}
// Deprecated. Do not use this for new physics engines.
public abstract void Initialise(IMesher meshmerizer, IConfigSource config);
// For older physics engines that do not implement non-legacy region sizes.
// If the physics engine handles the region extent feature, it overrides this function.
public virtual void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent)
{
// If not overridden, call the old initialization entry.
Initialise(meshmerizer, config);
}
/// <summary>
/// Add an avatar
/// </summary>
/// <param name="avName"></param>
/// <param name="position"></param>
/// <param name="velocity"></param>
/// <param name="size"></param>
/// <param name="isFlying"></param>
/// <returns></returns>
public abstract PhysicsActor AddAvatar(
string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying);
/// <summary>
/// Add an avatar
/// </summary>
/// <param name="localID"></param>
/// <param name="avName"></param>
/// <param name="position"></param>
/// <param name="velocity"></param>
/// <param name="size"></param>
/// <param name="isFlying"></param>
/// <returns></returns>
public virtual PhysicsActor AddAvatar(
uint localID, string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
{
PhysicsActor ret = AddAvatar(avName, position, velocity, size, isFlying);
if (ret != null)
ret.LocalID = localID;
return ret;
}
/// <summary>
/// Remove an avatar.
/// </summary>
/// <param name="actor"></param>
public abstract void RemoveAvatar(PhysicsActor actor);
/// <summary>
/// Remove a prim.
/// </summary>
/// <param name="prim"></param>
public abstract void RemovePrim(PhysicsActor prim);
public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation, bool isPhysical, uint localid);
public virtual PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapetype, uint localid)
{
return AddPrimShape(primName, pbs, position, size, rotation, isPhysical, localid);
}
public virtual float TimeDilation
{
get { return 1.0f; }
}
public virtual bool SupportsNINJAJoints
{
get { return false; }
}
public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
{ return null; }
public virtual void RequestJointDeletion(string objectNameInScene)
{ return; }
public virtual void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
{ return; }
public virtual void DumpJointInfo()
{ return; }
public event JointMoved OnJointMoved;
protected virtual void DoJointMoved(PhysicsJoint joint)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointMoved != null)
{
OnJointMoved(joint);
}
}
public event JointDeactivated OnJointDeactivated;
protected virtual void DoJointDeactivated(PhysicsJoint joint)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointDeactivated != null)
{
OnJointDeactivated(joint);
}
}
public event JointErrorMessage OnJointErrorMessage;
protected virtual void DoJointErrorMessage(PhysicsJoint joint, string message)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointErrorMessage != null)
{
OnJointErrorMessage(joint, message);
}
}
public virtual Vector3 GetJointAnchor(PhysicsJoint joint)
{ return Vector3.Zero; }
public virtual Vector3 GetJointAxis(PhysicsJoint joint)
{ return Vector3.Zero; }
public abstract void AddPhysicsActorTaint(PhysicsActor prim);
/// <summary>
/// Perform a simulation of the current physics scene over the given timestep.
/// </summary>
/// <param name="timeStep"></param>
/// <returns>The number of frames simulated over that period.</returns>
public abstract float Simulate(float timeStep);
/// <summary>
/// Get statistics about this scene.
/// </summary>
/// <remarks>This facility is currently experimental and subject to change.</remarks>
/// <returns>
/// A dictionary where the key is the statistic name. If no statistics are supplied then returns null.
/// </returns>
public virtual Dictionary<string, float> GetStats() { return null; }
public abstract void GetResults();
public abstract void SetTerrain(float[] heightMap);
public abstract void SetWaterLevel(float baseheight);
public abstract void DeleteTerrain();
public abstract void Dispose();
public abstract Dictionary<uint, float> GetTopColliders();
public abstract bool IsThreaded { get; }
/// <summary>
/// True if the physics plugin supports raycasting against the physics scene
/// </summary>
public virtual bool SupportsRayCast()
{
return false;
}
public virtual bool SupportsCombining()
{
return false;
}
public virtual void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) {}
public virtual void UnCombine(PhysicsScene pScene) {}
/// <summary>
/// Queue a raycast against the physics scene.
/// The provided callback method will be called when the raycast is complete
///
/// Many physics engines don't support collision testing at the same time as
/// manipulating the physics scene, so we queue the request up and callback
/// a custom method when the raycast is complete.
/// This allows physics engines that give an immediate result to callback immediately
/// and ones that don't, to callback when it gets a result back.
///
/// ODE for example will not allow you to change the scene while collision testing or
/// it asserts, 'opteration not valid for locked space'. This includes adding a ray to the scene.
///
/// This is named RayCastWorld to not conflict with modrex's Raycast method.
/// </summary>
/// <param name="position">Origin of the ray</param>
/// <param name="direction">Direction of the ray</param>
/// <param name="length">Length of ray in meters</param>
/// <param name="retMethod">Method to call when the raycast is complete</param>
public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
{
if (retMethod != null)
retMethod(false, Vector3.Zero, 0, 999999999999f, Vector3.Zero);
}
public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
{
if (retMethod != null)
retMethod(new List<ContactResult>());
}
public virtual List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
{
return new List<ContactResult>();
}
public virtual object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
{
return null;
}
public virtual bool SupportsRaycastWorldFiltered()
{
return false;
}
// Extendable interface for new, physics engine specific operations
public virtual object Extension(string pFunct, params object[] pParams)
{
// A NOP if the extension thing is not implemented by the physics engine
return null;
}
}
}

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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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.Timers;
using OpenMetaverse;
namespace OpenSim.Region.Physics.Manager
{
[Flags]
public enum SenseType : uint
{
NONE = 0,
AGENT = 1,
ACTIVE = 2,
PASSIVE = 3,
SCRIPTED = 4
}
public abstract class PhysicsSensor
{
public static PhysicsSensor Null
{
get { return new NullPhysicsSensor(); }
}
public abstract Vector3 Position { get; set; }
public abstract void TimerCallback (object obj, ElapsedEventArgs eea);
public abstract float radianarc {get; set;}
public abstract string targetname {get; set;}
public abstract Guid targetKey{get;set;}
public abstract SenseType sensetype { get;set;}
public abstract float range { get;set;}
public abstract float rateSeconds { get;set;}
}
public class NullPhysicsSensor : PhysicsSensor
{
public override Vector3 Position
{
get { return Vector3.Zero; }
set { return; }
}
public override void TimerCallback(object obj, ElapsedEventArgs eea)
{
// don't do squat
}
public override float radianarc { get { return 0f; } set { } }
public override string targetname { get { return ""; } set { } }
public override Guid targetKey { get { return Guid.Empty; } set { } }
public override SenseType sensetype { get { return SenseType.NONE; } set { } }
public override float range { get { return 0; } set { } }
public override float rateSeconds { get { return 0; } set { } }
}
}

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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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;
namespace OpenSim.Region.Physics.Manager
{
/*public class PhysicsVector
{
public float X;
public float Y;
public float Z;
public Vector3()
{
}
public Vector3(float x, float y, float z)
{
X = x;
Y = y;
Z = z;
}
public Vector3(Vector3 pv) : this(pv.X, pv.Y, pv.Z)
{
}
public void setValues(float x, float y, float z)
{
X = x;
Y = y;
Z = z;
}
public static readonly PhysicsVector Zero = new PhysicsVector(0f, 0f, 0f);
public override string ToString()
{
return "<" + X + "," + Y + "," + Z + ">";
}
/// <summary>
/// These routines are the easiest way to store XYZ values in an Vector3 without requiring 3 calls.
/// </summary>
/// <returns></returns>
public byte[] GetBytes()
{
byte[] byteArray = new byte[12];
Buffer.BlockCopy(BitConverter.GetBytes(X), 0, byteArray, 0, 4);
Buffer.BlockCopy(BitConverter.GetBytes(Y), 0, byteArray, 4, 4);
Buffer.BlockCopy(BitConverter.GetBytes(Z), 0, byteArray, 8, 4);
if (!BitConverter.IsLittleEndian)
{
Array.Reverse(byteArray, 0, 4);
Array.Reverse(byteArray, 4, 4);
Array.Reverse(byteArray, 8, 4);
}
return byteArray;
}
public void FromBytes(byte[] byteArray, int pos)
{
byte[] conversionBuffer = null;
if (!BitConverter.IsLittleEndian)
{
// Big endian architecture
if (conversionBuffer == null)
conversionBuffer = new byte[12];
Buffer.BlockCopy(byteArray, pos, conversionBuffer, 0, 12);
Array.Reverse(conversionBuffer, 0, 4);
Array.Reverse(conversionBuffer, 4, 4);
Array.Reverse(conversionBuffer, 8, 4);
X = BitConverter.ToSingle(conversionBuffer, 0);
Y = BitConverter.ToSingle(conversionBuffer, 4);
Z = BitConverter.ToSingle(conversionBuffer, 8);
}
else
{
// Little endian architecture
X = BitConverter.ToSingle(byteArray, pos);
Y = BitConverter.ToSingle(byteArray, pos + 4);
Z = BitConverter.ToSingle(byteArray, pos + 8);
}
}
// Operations
public static PhysicsVector operator +(Vector3 a, Vector3 b)
{
return new PhysicsVector(a.X + b.X, a.Y + b.Y, a.Z + b.Z);
}
public static PhysicsVector operator -(Vector3 a, Vector3 b)
{
return new PhysicsVector(a.X - b.X, a.Y - b.Y, a.Z - b.Z);
}
public static PhysicsVector cross(Vector3 a, Vector3 b)
{
return new PhysicsVector(a.Y*b.Z - a.Z*b.Y, a.Z*b.X - a.X*b.Z, a.X*b.Y - a.Y*b.X);
}
public float length()
{
return (float) Math.Sqrt(X*X + Y*Y + Z*Z);
}
public static float GetDistanceTo(Vector3 a, Vector3 b)
{
float dx = a.X - b.X;
float dy = a.Y - b.Y;
float dz = a.Z - b.Z;
return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz);
}
public static PhysicsVector operator /(Vector3 v, float f)
{
return new PhysicsVector(v.X/f, v.Y/f, v.Z/f);
}
public static PhysicsVector operator *(Vector3 v, float f)
{
return new PhysicsVector(v.X*f, v.Y*f, v.Z*f);
}
public static PhysicsVector operator *(float f, Vector3 v)
{
return v*f;
}
public static bool isFinite(Vector3 v)
{
if (v == null)
return false;
if (Single.IsInfinity(v.X) || Single.IsNaN(v.X))
return false;
if (Single.IsInfinity(v.Y) || Single.IsNaN(v.Y))
return false;
if (Single.IsInfinity(v.Z) || Single.IsNaN(v.Z))
return false;
return true;
}
public virtual bool IsIdentical(Vector3 v, float tolerance)
{
PhysicsVector diff = this - v;
float d = diff.length();
if (d <= tolerance)
return true;
return false;
}
}*/
}

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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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;
namespace OpenSim.Region.Physics.Manager
{
public enum Vehicle : int
{
/// <summary>
/// Turns off Vehicle Support
/// </summary>
TYPE_NONE = 0,
/// <summary>
/// No Angular motor, High Left right friction, No Hover, Linear Deflection 1, no angular deflection
/// no vertical attractor, No banking, Identity rotation frame
/// </summary>
TYPE_SLED = 1,
/// <summary>
/// Needs Motors to be driven by timer or control events High left/right friction, No angular friction
/// Linear Motor wins in a second, decays in 60 seconds. Angular motor wins in a second, decays in 8/10ths of a second
/// linear deflection 2 seconds
/// Vertical Attractor locked UP
/// </summary>
TYPE_CAR = 2,
TYPE_BOAT = 3,
TYPE_AIRPLANE = 4,
TYPE_BALLOON = 5,
LINEAR_FRICTION_TIMESCALE = 16,
/// <summary>
/// vector of timescales for exponential decay of angular velocity about three axis
/// </summary>
ANGULAR_FRICTION_TIMESCALE = 17,
/// <summary>
/// linear velocity vehicle will try for
/// </summary>
LINEAR_MOTOR_DIRECTION = 18,
/// <summary>
/// Offset from center of mass where linear motor forces are added
/// </summary>
LINEAR_MOTOR_OFFSET = 20,
/// <summary>
/// angular velocity that vehicle will try for
/// </summary>
ANGULAR_MOTOR_DIRECTION = 19,
HOVER_HEIGHT = 24,
HOVER_EFFICIENCY = 25,
HOVER_TIMESCALE = 26,
BUOYANCY = 27,
LINEAR_DEFLECTION_EFFICIENCY = 28,
LINEAR_DEFLECTION_TIMESCALE = 29,
LINEAR_MOTOR_TIMESCALE = 30,
LINEAR_MOTOR_DECAY_TIMESCALE = 31,
/// <summary>
/// slide between 0 and 1
/// </summary>
ANGULAR_DEFLECTION_EFFICIENCY = 32,
ANGULAR_DEFLECTION_TIMESCALE = 33,
ANGULAR_MOTOR_TIMESCALE = 34,
ANGULAR_MOTOR_DECAY_TIMESCALE = 35,
VERTICAL_ATTRACTION_EFFICIENCY = 36,
VERTICAL_ATTRACTION_TIMESCALE = 37,
BANKING_EFFICIENCY = 38,
BANKING_MIX = 39,
BANKING_TIMESCALE = 40,
REFERENCE_FRAME = 44,
BLOCK_EXIT = 45,
ROLL_FRAME = 46
}
[Flags]
public enum VehicleFlag
{
NO_DEFLECTION_UP = 1,
LIMIT_ROLL_ONLY = 2,
HOVER_WATER_ONLY = 4,
HOVER_TERRAIN_ONLY = 8,
HOVER_GLOBAL_HEIGHT = 16,
HOVER_UP_ONLY = 32,
LIMIT_MOTOR_UP = 64,
MOUSELOOK_STEER = 128,
MOUSELOOK_BANK = 256,
CAMERA_DECOUPLED = 512,
NO_X = 1024,
NO_Y = 2048,
NO_Z = 4096,
LOCK_HOVER_HEIGHT = 8192,
NO_DEFLECTION = 16392,
LOCK_ROTATION = 32784
}
}

83
OpenSim/Region/PhysicsModules/SharedBase/ZeroMesher.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* 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 OpenSimulator Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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 OpenSim.Framework;
using OpenMetaverse;
using Nini.Config;
/*
* This is the zero mesher.
* Whatever you want him to mesh, he can't, telling you that by responding with a null pointer.
* Effectivly this is for switching off meshing and for testing as each physics machine should deal
* with the null pointer situation.
* But it's also a convenience thing, as physics machines can rely on having a mesher in any situation, even
* if it's a dump one like this.
* Note, that this mesher is *not* living in a module but in the manager itself, so
* it's always availabe and thus the default in case of configuration errors
*/
namespace OpenSim.Region.Physics.Manager
{
public class ZeroMesherPlugin : IMeshingPlugin
{
public ZeroMesherPlugin()
{
}
public string GetName()
{
return "ZeroMesher";
}
public IMesher GetMesher(IConfigSource config)
{
return new ZeroMesher();
}
}
public class ZeroMesher : IMesher
{
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
{
return CreateMesh(primName, primShape, size, lod, false, false);
}
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
{
return CreateMesh(primName, primShape, size, lod, false, false);
}
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache)
{
// Remove the reference to the encoded JPEG2000 data so it can be GCed
primShape.SculptData = OpenMetaverse.Utils.EmptyBytes;
return null;
}
}
}