* Applying Nlin's NINJA Joint patch. v2. Mantis# 2874

* Thanks nlin!
* To try it out, set ninja joints active in the ODEPhysicsSettings
and use the example at:
* http://forge.opensimulator.org/gf/download/frsrelease/142/304/demo-playground.tgz.
* Don't forget to change the .tgz to .oar and load it with load-oar.

3 files changed, 122 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index fd02057..3ba5ce5 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -127,6 +127,9 @@ namespace OpenSim.Region.Physics.Manager
 
         public abstract bool Selected { set; }
 
+        public String SOPName { get; set; }
+        public String SOPDescription { get; set; }
+
         public abstract void CrossingFailure();
 
         public abstract void link(PhysicsActor obj);
diff --git a/OpenSim/Region/Physics/Manager/PhysicsJoint.cs b/OpenSim/Region/Physics/Manager/PhysicsJoint.cs
new file mode 100644
index 0000000..52f7e5f
--- /dev/null
+++ b/OpenSim/Region/Physics/Manager/PhysicsJoint.cs
@@ -0,0 +1,55 @@
+/*

+ * 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 OpenSim 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 { get; set; }

+        public string RawParams { get; set; }

+        public List<string> BodyNames = new List<string>();

+        public PhysicsVector Position { get; set; } // global coords

+        public Quaternion Rotation { get; set; } // global coords

+        public string ObjectNameInScene { get; set; } // proxy object in scene that represents the joint position/orientation

+        public string TrackedBodyName { get; set; } // body name that this joint is attached to (ObjectNameInScene will follow TrackedBodyName)

+        public Quaternion LocalRotation { get; set; } // joint orientation relative to one of the involved bodies, the tracked body

+        public int ErrorMessageCount { get; set; } // 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

+    }

+}

diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index f104632..2cf4d5a 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -73,6 +73,67 @@ namespace OpenSim.Region.Physics.Manager
         public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
                                                   PhysicsVector size, Quaternion rotation, bool isPhysical);
 
+        public virtual bool SupportsNINJAJoints
+        {
+            get { return false; }
+        }
+
+        public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector 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 PhysicsVector GetJointAnchor(PhysicsJoint joint)
+        { return null; }
+
+        public virtual PhysicsVector GetJointAxis(PhysicsJoint joint)
+        { return null; }
+
+
         public abstract void AddPhysicsActorTaint(PhysicsActor prim);
 
         public abstract float Simulate(float timeStep);
@@ -181,4 +242,7 @@ namespace OpenSim.Region.Physics.Manager
             }
         }
     }
+    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"
 }