Merge branch 'vehicles' into tests

Conflicts:

	OpenSim/Region/Physics/Manager/PhysicsActor.cs
	OpenSim/Region/Physics/OdePlugin/ODEPrim.cs

3 files changed, 79 insertions, 81 deletions

diff --git a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
index 135f49e..566b4e7 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
@@ -36,20 +36,17 @@ namespace OpenSim.Region.Physics.POSPlugin
 {
     public class POSCharacter : PhysicsActor
     {
-        private PhysicsVector _position;
-        public PhysicsVector _velocity;
-        public PhysicsVector _target_velocity = PhysicsVector.Zero;
-        public PhysicsVector _size = PhysicsVector.Zero;
-        private PhysicsVector _acceleration;
-        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
+        private Vector3 _position;
+        public Vector3 _velocity;
+        public Vector3 _target_velocity = Vector3.Zero;
+        public Vector3 _size = Vector3.Zero;
+        private Vector3 _acceleration;
+        private Vector3 m_rotationalVelocity = Vector3.Zero;
         private bool flying;
         private bool isColliding;
 
         public POSCharacter()
         {
-            _velocity = new PhysicsVector();
-            _position = new PhysicsVector();
-            _acceleration = new PhysicsVector();
         }
 
         public override int PhysicsActorType
@@ -58,7 +55,7 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { return; }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
             get { return m_rotationalVelocity; }
             set { m_rotationalVelocity = value; }
@@ -137,13 +134,13 @@ namespace OpenSim.Region.Physics.POSPlugin
             get { return false; }
         }
 
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
             get { return _position; }
             set { _position = value; }
         }
 
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
             get { return _size; }
             set
@@ -158,9 +155,9 @@ namespace OpenSim.Region.Physics.POSPlugin
             get { return 0f; }
         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -175,7 +172,7 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
 
         }
@@ -190,14 +187,14 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         }
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
         public override PrimitiveBaseShape Shape
@@ -205,15 +202,15 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { return; }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
             get { return _velocity; }
             set { _target_velocity = value; }
         }
 
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -229,7 +226,7 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { }
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
             get { return _acceleration; }
         }
@@ -248,24 +245,24 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
         }
 
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
         {
             _acceleration = accel;
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
         }
 
@@ -273,7 +270,7 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
         }
 
-        public override PhysicsVector PIDTarget
+        public override Vector3 PIDTarget
         {
             set { return; }
         }
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
index 4521dce..847b634 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
@@ -36,19 +36,16 @@ namespace OpenSim.Region.Physics.POSPlugin
 {
     public class POSPrim : PhysicsActor
     {
-        private PhysicsVector _position;
-        private PhysicsVector _velocity;
-        private PhysicsVector _acceleration;
-        private PhysicsVector _size;
-        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
+        private Vector3 _position;
+        private Vector3 _velocity;
+        private Vector3 _acceleration;
+        private Vector3 _size;
+        private Vector3 m_rotationalVelocity = Vector3.Zero;
         private Quaternion _orientation;
         private bool iscolliding;
 
         public POSPrim()
         {
-            _velocity = new PhysicsVector();
-            _position = new PhysicsVector();
-            _acceleration = new PhysicsVector();
         }
 
         public override int PhysicsActorType
@@ -57,7 +54,7 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { return; }
         }
 
-        public override PhysicsVector RotationalVelocity
+        public override Vector3 RotationalVelocity
         {
             get { return m_rotationalVelocity; }
             set { m_rotationalVelocity = value; }
@@ -98,13 +95,13 @@ namespace OpenSim.Region.Physics.POSPlugin
             get { return false; }
         }
 
-        public override PhysicsVector Position
+        public override Vector3 Position
         {
             get { return _position; }
             set { _position = value; }
         }
 
-        public override PhysicsVector Size
+        public override Vector3 Size
         {
             get { return _size; }
             set { _size = value; }
@@ -115,9 +112,9 @@ namespace OpenSim.Region.Physics.POSPlugin
             get { return 0f; }
         }
 
-        public override PhysicsVector Force
+        public override Vector3 Force
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
@@ -132,7 +129,7 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         }
 
-        public override void VehicleVectorParam(int param, PhysicsVector value)
+        public override void VehicleVectorParam(int param, Vector3 value)
         {
 
         }
@@ -147,14 +144,14 @@ namespace OpenSim.Region.Physics.POSPlugin
 
         }
 
-        public override PhysicsVector CenterOfMass
+        public override Vector3 CenterOfMass
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
-        public override PhysicsVector GeometricCenter
+        public override Vector3 GeometricCenter
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
         }
 
         public override PrimitiveBaseShape Shape
@@ -173,7 +170,7 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { return; }
         }
 
-        public override PhysicsVector Velocity
+        public override Vector3 Velocity
         {
             get { return _velocity; }
             set { _velocity = value; }
@@ -191,7 +188,7 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { _orientation = value; }
         }
 
-        public override PhysicsVector Acceleration
+        public override Vector3 Acceleration
         {
             get { return _acceleration; }
         }
@@ -202,26 +199,26 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { }
         }
 
-        public void SetAcceleration(PhysicsVector accel)
+        public void SetAcceleration(Vector3 accel)
         {
             _acceleration = accel;
         }
 
-        public override void AddForce(PhysicsVector force, bool pushforce)
+        public override void AddForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override void AddAngularForce(PhysicsVector force, bool pushforce)
+        public override void AddAngularForce(Vector3 force, bool pushforce)
         {
         }
 
-        public override PhysicsVector Torque
+        public override Vector3 Torque
         {
-            get { return PhysicsVector.Zero; }
+            get { return Vector3.Zero; }
             set { return; }
         }
 
-        public override void SetMomentum(PhysicsVector momentum)
+        public override void SetMomentum(Vector3 momentum)
         {
         }
 
@@ -255,7 +252,7 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
         }
 
-        public override void LockAngularMotion(PhysicsVector axis)
+        public override void LockAngularMotion(Vector3 axis)
         {
         }
 
@@ -268,7 +265,7 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
         }
 
-        public override PhysicsVector PIDTarget
+        public override Vector3 PIDTarget
         {
             set { return; }
         }
diff --git a/OpenSim/Region/Physics/POSPlugin/POSScene.cs b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
index fa8cc70..c3f5040 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSScene.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
@@ -56,7 +56,7 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
         }
 
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
         {
             POSCharacter act = new POSCharacter();
             act.Position = position;
@@ -84,20 +84,20 @@ namespace OpenSim.Region.Physics.POSPlugin
         }
 
 /*
-        public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
         {
             return null;
         }
 */
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation)
         {
             return AddPrimShape(primName, pbs, position, size, rotation, false);
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical)
         {
             POSPrim prim = new POSPrim();
             prim.Position = position;
@@ -152,23 +152,25 @@ namespace OpenSim.Region.Physics.POSPlugin
                     character._target_velocity.Z += gravity * timeStep;
                 }
 
-                character.Position.X += character._target_velocity.X * timeStep;
-                character.Position.Y += character._target_velocity.Y * timeStep;
+                Vector3 characterPosition = character.Position;
 
-                character.Position.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
-                character.Position.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.X += character._target_velocity.X * timeStep;
+                characterPosition.Y += character._target_velocity.Y * timeStep;
+
+                characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
 
                 bool forcedZ = false;
 
                 float terrainheight = _heightMap[(int)character.Position.Y * Constants.RegionSize + (int)character.Position.X];
                 if (character.Position.Z + (character._target_velocity.Z * timeStep) < terrainheight + 2)
                 {
-                    character.Position.Z = terrainheight + character.Size.Z;
+                    characterPosition.Z = terrainheight + character.Size.Z;
                     forcedZ = true;
                 }
                 else
                 {
-                    character.Position.Z += character._target_velocity.Z*timeStep;
+                    characterPosition.Z += character._target_velocity.Z*timeStep;
                 }
 
                 /// this is it -- the magic you've all been waiting for!  Ladies and gentlemen --
@@ -177,29 +179,29 @@ namespace OpenSim.Region.Physics.POSPlugin
 
                 if (isCollidingWithPrim(character))
                 {
-                    character.Position.Z = oldposZ; //  first try Z axis
+                    characterPosition.Z = oldposZ; //  first try Z axis
                     if (isCollidingWithPrim(character))
                     {
-                        character.Position.Z = oldposZ + character.Size.Z / 4.4f; // try harder
+                        characterPosition.Z = oldposZ + character.Size.Z / 4.4f; // try harder
                         if (isCollidingWithPrim(character))
                         {
-                            character.Position.Z = oldposZ + character.Size.Z / 2.2f; // try very hard
+                            characterPosition.Z = oldposZ + character.Size.Z / 2.2f; // try very hard
                             if (isCollidingWithPrim(character))
                             {
-                                character.Position.X = oldposX;
-                                character.Position.Y = oldposY;
-                                character.Position.Z = oldposZ;
+                                characterPosition.X = oldposX;
+                                characterPosition.Y = oldposY;
+                                characterPosition.Z = oldposZ;
 
-                                character.Position.X += character._target_velocity.X * timeStep;
+                                characterPosition.X += character._target_velocity.X * timeStep;
                                 if (isCollidingWithPrim(character))
                                 {
-                                    character.Position.X = oldposX;
+                                    characterPosition.X = oldposX;
                                 }
 
-                                character.Position.Y += character._target_velocity.Y * timeStep;
+                                characterPosition.Y += character._target_velocity.Y * timeStep;
                                 if (isCollidingWithPrim(character))
                                 {
-                                    character.Position.Y = oldposY;
+                                    characterPosition.Y = oldposY;
                                 }
                             }
                             else
@@ -218,8 +220,10 @@ namespace OpenSim.Region.Physics.POSPlugin
                     }
                 }
 
-                character.Position.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
-                character.Position.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
+                characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
+
+                character.Position = characterPosition;
 
                 character._velocity.X = (character.Position.X - oldposX)/timeStep;
                 character._velocity.Y = (character.Position.Y - oldposY)/timeStep;