Merge of ubitworkvarnew with opensim/master as of 20150905.

This integrates the OpenSim refactoring to make physics, etc into modules.
AVN physics hasn't been moved to new location.
Does not compile yet.

Merge branch 'osmaster' into mbworknew1

1 files changed, 420 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsScene.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsScene.cs
new file mode 100644
index 0000000..1c0ad20
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsScene.cs
@@ -0,0 +1,420 @@
+/*
+ * 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.PhysicsModules.SharedBase
+{
+    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 ProbeBoxCallback(List<ContactResult> list);
+    public delegate void ProbeSphereCallback(List<ContactResult> list);
+    public delegate void ProbePlaneCallback(List<ContactResult> list);
+    public delegate void SitAvatarCallback(int status, uint partID, Vector3 offset, Quaternion Orientation);
+
+    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 PhysicsSceneName { 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; }
+
+        protected void Initialise(RequestAssetDelegate m, float[] terrain, float waterHeight)
+        {
+            RequestAssetMethod = m;
+            SetTerrain(terrain);
+            SetWaterLevel(waterHeight);
+
+        }
+
+        public virtual void TriggerPhysicsBasedRestart()
+        {
+            physicsCrash handler = OnPhysicsCrash;
+            if (handler != null)
+            {
+                OnPhysicsCrash();
+            }
+        }
+
+        /// <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;
+        }
+
+        public virtual PhysicsActor AddAvatar(
+            uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
+        {
+            PhysicsActor ret = AddAvatar(localID, avName, position, Vector3.Zero, size, isFlying);             
+            return ret;
+        }
+
+        public virtual PhysicsActor AddAvatar(
+            uint localID, string avName, Vector3 position, Vector3 size, float feetOffset, bool isFlying)
+        {
+            PhysicsActor ret = AddAvatar(localID, avName, position, Vector3.Zero, size, isFlying);
+            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, PhysicsActor parent, PrimitiveBaseShape pbs, Vector3 position,
+                                                  uint localid, byte[] sdata)
+        {
+            return null;
+        }
+
+        public virtual PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
+        {
+            return AddPrimShape(primName, pbs, position, size, rotation, isPhysical, 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);
+
+
+        public virtual void PrepareSimulation() { }
+
+        /// <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 CombineTerrain(float[] heightMap, Vector3 pOffset) {}
+        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;
+        }
+
+        public virtual List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags flags)
+        {
+            return new List<ContactResult>();
+        }
+
+        public virtual List<ContactResult> BoxProbe(Vector3 position, Vector3 size, Quaternion orientation, int Count, RayFilterFlags flags)
+        {
+            return new List<ContactResult>();
+        }
+
+        public virtual List<ContactResult> SphereProbe(Vector3 position, float radius, int Count, RayFilterFlags flags)
+        {
+            return new List<ContactResult>();
+        }
+
+        public virtual List<ContactResult> PlaneProbe(PhysicsActor actor, Vector4 plane, int Count, RayFilterFlags flags)
+        {
+            return new List<ContactResult>();
+        }
+
+        public virtual int SitAvatar(PhysicsActor actor, Vector3 AbsolutePosition, Vector3 CameraPosition, Vector3 offset, Vector3 AvatarSize, SitAvatarCallback PhysicsSitResponse)
+        {
+            return 0;
+        }
+
+        // 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;
+        }
+    }
+}