1 files changed, 421 insertions, 11 deletions

diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
index 6009dc5..9daf9d7 100755
--- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
@@ -29,12 +29,14 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Reflection;
 using System.Text;
+using System.Threading;
 
 using OpenSim.Framework;
+using OpenSim.Region.CoreModules;
 using OpenSim.Region.Framework;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
-using OpenSim.Region.CoreModules;
+using OpenSim.Region.Physics.Manager;
 
 using Mono.Addins;
 using Nini.Config;
@@ -49,6 +51,24 @@ public class ExtendedPhysics : INonSharedRegionModule
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static string LogHeader = "[EXTENDED PHYSICS]";
 
+    // =============================================================
+    // Since BulletSim is a plugin, this these values aren't defined easily in one place.
+    // This table must correspond to an identical table in BSScene.
+
+    // Per scene functions. See BSScene.
+
+    // Per avatar functions. See BSCharacter.
+
+    // Per prim functions. See BSPrim.
+    public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType";
+    public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
+    public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed";
+    public const string PhysFunctChangeLinkType = "BulletSim.ChangeLinkType";
+    public const string PhysFunctGetLinkType = "BulletSim.GetLinkType";
+    public const string PhysFunctChangeLinkParams = "BulletSim.ChangeLinkParams";
+
+    // =============================================================
+
     private IConfig Configuration { get; set; }
     private bool Enabled { get; set; }
     private Scene BaseScene { get; set; }
@@ -119,6 +139,7 @@ public class ExtendedPhysics : INonSharedRegionModule
  
         // Register as LSL functions all the [ScriptInvocation] marked methods.
         Comms.RegisterScriptInvocations(this);
+        Comms.RegisterConstants(this);
 
         // When an object is modified, we might need to update its extended physics parameters
         BaseScene.EventManager.OnObjectAddedToScene += EventManager_OnObjectAddedToScene;
@@ -132,7 +153,6 @@ public class ExtendedPhysics : INonSharedRegionModule
 
     private void EventManager_OnObjectAddedToScene(SceneObjectGroup obj)
     {
-        throw new NotImplementedException();
     }
 
     // Event generated when some property of a prim changes.
@@ -141,14 +161,7 @@ public class ExtendedPhysics : INonSharedRegionModule
     }
 
     [ScriptConstant]
-    public static int PHYS_CENTER_OF_MASS =     1 << 0;
-
-    [ScriptConstant]
-    public static int PHYS_LINKSET_TYPE_CONSTRAINT  = 1;
-    [ScriptConstant]
-    public static int PHYS_LINKSET_TYPE_COMPOUND    = 2;
-    [ScriptConstant]
-    public static int PHYS_LINKSET_TYPE_MANUAL      = 3;
+    public const int PHYS_CENTER_OF_MASS =     1 << 0;
 
     [ScriptInvocation]
     public string physGetEngineType(UUID hostID, UUID scriptID)
@@ -163,9 +176,406 @@ public class ExtendedPhysics : INonSharedRegionModule
         return ret;
     }
 
+    [ScriptConstant]
+    public const int PHYS_LINKSET_TYPE_CONSTRAINT  = 0;
+    [ScriptConstant]
+    public const int PHYS_LINKSET_TYPE_COMPOUND    = 1;
+    [ScriptConstant]
+    public const int PHYS_LINKSET_TYPE_MANUAL      = 2;
+
+    [ScriptInvocation]
+    public int physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
+    {
+        int ret = -1;
+
+        if (!Enabled) return ret;
+
+        // The part that is requesting the change.
+        SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
+
+        if (requestingPart != null)
+        {
+            // The change is always made to the root of a linkset.
+            SceneObjectGroup containingGroup = requestingPart.ParentGroup;
+            SceneObjectPart rootPart = containingGroup.RootPart;
+
+            if (rootPart != null)
+            {
+                PhysicsActor rootPhysActor = rootPart.PhysActor;
+                if (rootPhysActor != null)
+                {
+                    if (rootPhysActor.IsPhysical)
+                    {
+                        // Change a physical linkset by making non-physical, waiting for one heartbeat so all
+                        //    the prim and linkset state is updated, changing the type and making the
+                        //    linkset physical again.
+                        containingGroup.ScriptSetPhysicsStatus(false);
+                        Thread.Sleep(150);  // longer than one heartbeat tick
+
+                        // A kludge for the moment.
+                        // Since compound linksets move the children but don't generate position updates to the
+                        //     simulator, it is possible for compound linkset children to have out-of-sync simulator
+                        //     and physical positions. The following causes the simulator to push the real child positions
+                        //     down into the physics engine to get everything synced.
+                        containingGroup.UpdateGroupPosition(containingGroup.AbsolutePosition);
+                        containingGroup.UpdateGroupRotationR(containingGroup.GroupRotation);
+
+                        object[] parms2 = { rootPhysActor, null, linksetType };
+                        ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, parms2));
+                        Thread.Sleep(150);  // longer than one heartbeat tick
+
+                        containingGroup.ScriptSetPhysicsStatus(true);
+                    }
+                    else
+                    {
+                        // Non-physical linksets don't have a physical instantiation so there is no state to
+                        //    worry about being updated.
+                        object[] parms2 = { rootPhysActor, null, linksetType };
+                        ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, parms2));
+                    }
+                }
+                else
+                {
+                    m_log.WarnFormat("{0} physSetLinksetType: root part does not have a physics actor. rootName={1}, hostID={2}",
+                                        LogHeader, rootPart.Name, hostID);
+                }
+            }
+            else
+            {
+                m_log.WarnFormat("{0} physSetLinksetType: root part does not exist. RequestingPartName={1}, hostID={2}",
+                                    LogHeader, requestingPart.Name, hostID);
+            }
+        }
+        else
+        {
+            m_log.WarnFormat("{0} physSetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
+        }
+        return ret;
+    }
+
     [ScriptInvocation]
-    public void physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
+    public int physGetLinksetType(UUID hostID, UUID scriptID)
     {
+        int ret = -1;
+        if (!Enabled) return ret;
+
+        // The part that is requesting the change.
+        SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
+
+        if (requestingPart != null)
+        {
+            // The type is is always on the root of a linkset.
+            SceneObjectGroup containingGroup = requestingPart.ParentGroup;
+            SceneObjectPart rootPart = containingGroup.RootPart;
+
+            if (rootPart != null)
+            {
+                PhysicsActor rootPhysActor = rootPart.PhysActor;
+                if (rootPhysActor != null)
+                {
+                    object[] parms2 = { rootPhysActor, null };
+                    ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinksetType, parms2));
+                }
+                else
+                {
+                    m_log.WarnFormat("{0} physGetLinksetType: root part does not have a physics actor. rootName={1}, hostID={2}",
+                                        LogHeader, rootPart.Name, hostID);
+                }
+            }
+            else
+            {
+                m_log.WarnFormat("{0} physGetLinksetType: root part does not exist. RequestingPartName={1}, hostID={2}",
+                                    LogHeader, requestingPart.Name, hostID);
+            }
+        }
+        else
+        {
+            m_log.WarnFormat("{0} physGetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
+        }
+        return ret;
+    }
+
+    [ScriptConstant]
+    public const int PHYS_LINK_TYPE_FIXED  = 1234;
+    [ScriptConstant]
+    public const int PHYS_LINK_TYPE_HINGE  = 4;
+    [ScriptConstant]
+    public const int PHYS_LINK_TYPE_SPRING = 9;
+    [ScriptConstant]
+    public const int PHYS_LINK_TYPE_6DOF   = 6;
+    [ScriptConstant]
+    public const int PHYS_LINK_TYPE_SLIDER = 7;
+
+    // physChangeLinkType(integer linkNum, integer typeCode)
+    [ScriptInvocation]
+    public int physChangeLinkType(UUID hostID, UUID scriptID, int linkNum, int typeCode)
+    {
+        int ret = -1;
+        if (!Enabled) return ret;
+
+        PhysicsActor rootPhysActor;
+        PhysicsActor childPhysActor;
+
+        if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
+        {
+            object[] parms2 = { rootPhysActor, childPhysActor, typeCode };
+            ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, parms2));
+        }
+
+        return ret;
+    }
+
+    // physGetLinkType(integer linkNum)
+    [ScriptInvocation]
+    public int physGetLinkType(UUID hostID, UUID scriptID, int linkNum)
+    {
+        int ret = -1;
+        if (!Enabled) return ret;
+
+        PhysicsActor rootPhysActor;
+        PhysicsActor childPhysActor;
+
+        if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
+        {
+            object[] parms2 = { rootPhysActor, childPhysActor };
+            ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinkType, parms2));
+        }
+
+        return ret;
+    }
+
+    // physChangeLinkFixed(integer linkNum)
+    // Change the link between the root and the linkNum into a fixed, static physical connection.
+    [ScriptInvocation]
+    public int physChangeLinkFixed(UUID hostID, UUID scriptID, int linkNum)
+    {
+        int ret = -1;
+        if (!Enabled) return ret;
+
+        PhysicsActor rootPhysActor;
+        PhysicsActor childPhysActor;
+
+        if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
+        {
+            object[] parms2 = { rootPhysActor, childPhysActor , PHYS_LINK_TYPE_FIXED };
+            ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, parms2));
+        }
+
+        return ret;
+    }
+
+    // Code for specifying params.
+    // The choice if 14400 is arbitrary and only serves to catch parameter code misuse.
+    public const int PHYS_PARAM_MIN                    = 14401;
+
+    [ScriptConstant]
+    public const int PHYS_PARAM_FRAMEINA_LOC           = 14401;
+    [ScriptConstant]
+    public const int PHYS_PARAM_FRAMEINA_ROT           = 14402;
+    [ScriptConstant]
+    public const int PHYS_PARAM_FRAMEINB_LOC           = 14403;
+    [ScriptConstant]
+    public const int PHYS_PARAM_FRAMEINB_ROT           = 14404;
+    [ScriptConstant]
+    public const int PHYS_PARAM_LINEAR_LIMIT_LOW       = 14405;
+    [ScriptConstant]
+    public const int PHYS_PARAM_LINEAR_LIMIT_HIGH      = 14406;
+    [ScriptConstant]
+    public const int PHYS_PARAM_ANGULAR_LIMIT_LOW      = 14407;
+    [ScriptConstant]
+    public const int PHYS_PARAM_ANGULAR_LIMIT_HIGH     = 14408;
+    [ScriptConstant]
+    public const int PHYS_PARAM_USE_FRAME_OFFSET       = 14409;
+    [ScriptConstant]
+    public const int PHYS_PARAM_ENABLE_TRANSMOTOR      = 14410;
+    [ScriptConstant]
+    public const int PHYS_PARAM_TRANSMOTOR_MAXVEL      = 14411;
+    [ScriptConstant]
+    public const int PHYS_PARAM_TRANSMOTOR_MAXFORCE    = 14412;
+    [ScriptConstant]
+    public const int PHYS_PARAM_CFM                    = 14413;
+    [ScriptConstant]
+    public const int PHYS_PARAM_ERP                    = 14414;
+    [ScriptConstant]
+    public const int PHYS_PARAM_SOLVER_ITERATIONS      = 14415;
+    [ScriptConstant]
+    public const int PHYS_PARAM_SPRING_AXIS_ENABLE     = 14416;
+    [ScriptConstant]
+    public const int PHYS_PARAM_SPRING_DAMPING         = 14417;
+    [ScriptConstant]
+    public const int PHYS_PARAM_SPRING_STIFFNESS       = 14418;
+    [ScriptConstant]
+    public const int PHYS_PARAM_LINK_TYPE              = 14419;
+    [ScriptConstant]
+    public const int PHYS_PARAM_USE_LINEAR_FRAMEA      = 14420;
+    [ScriptConstant]
+    public const int PHYS_PARAM_SPRING_EQUILIBRIUM_POINT = 14421;
+
+    public const int PHYS_PARAM_MAX                    = 14421;
+
+    // Used when specifying a parameter that has settings for the three linear and three angular axis
+    [ScriptConstant]
+    public const int PHYS_AXIS_ALL = -1;
+    [ScriptConstant]
+    public const int PHYS_AXIS_LINEAR_ALL = -2;
+    [ScriptConstant]
+    public const int PHYS_AXIS_ANGULAR_ALL = -3;
+    [ScriptConstant]
+    public const int PHYS_AXIS_LINEAR_X  = 0;
+    [ScriptConstant]
+    public const int PHYS_AXIS_LINEAR_Y  = 1;
+    [ScriptConstant]
+    public const int PHYS_AXIS_LINEAR_Z  = 2;
+    [ScriptConstant]
+    public const int PHYS_AXIS_ANGULAR_X = 3;
+    [ScriptConstant]
+    public const int PHYS_AXIS_ANGULAR_Y = 4;
+    [ScriptConstant]
+    public const int PHYS_AXIS_ANGULAR_Z = 5;
+
+    // physChangeLinkParams(integer linkNum, [ PHYS_PARAM_*, value, PHYS_PARAM_*, value, ...])
+    [ScriptInvocation]
+    public int physChangeLinkParams(UUID hostID, UUID scriptID, int linkNum, object[] parms)
+    {
+        int ret = -1;
+        if (!Enabled) return ret;
+
+        PhysicsActor rootPhysActor;
+        PhysicsActor childPhysActor;
+
+        if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
+        {
+            object[] parms2 = AddToBeginningOfArray(rootPhysActor, childPhysActor, parms);
+            ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkParams, parms2));
+        }
+
+        return ret;
+    }
+
+    private bool GetRootPhysActor(UUID hostID, out PhysicsActor rootPhysActor)
+    {
+        SceneObjectGroup containingGroup;
+        SceneObjectPart rootPart;
+        return GetRootPhysActor(hostID, out containingGroup, out rootPart, out rootPhysActor);
+    }
+
+    private bool GetRootPhysActor(UUID hostID, out SceneObjectGroup containingGroup, out SceneObjectPart rootPart, out PhysicsActor rootPhysActor)
+    {
+        bool ret = false;
+        rootPhysActor = null;
+        containingGroup = null;
+        rootPart = null;
+
+        SceneObjectPart requestingPart;
+
+        requestingPart = BaseScene.GetSceneObjectPart(hostID);
+        if (requestingPart != null)
+        {
+            // The type is is always on the root of a linkset.
+            containingGroup = requestingPart.ParentGroup;
+            if (containingGroup != null && !containingGroup.IsDeleted)
+            {
+                rootPart = containingGroup.RootPart;
+                if (rootPart != null)
+                {
+                    rootPhysActor = rootPart.PhysActor;
+                    if (rootPhysActor != null)
+                    {
+                        ret = true;
+                    }
+                    else
+                    {
+                        m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not have a physics actor. rootName={1}, hostID={2}",
+                                        LogHeader, rootPart.Name, hostID);
+                    }
+                }
+                else
+                {
+                    m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not exist. RequestingPartName={1}, hostID={2}",
+                                    LogHeader, requestingPart.Name, hostID);
+                }
+            }
+            else
+            {
+                m_log.WarnFormat("{0} GetRootAndChildPhysActors: Containing group missing or deleted. hostID={1}", LogHeader, hostID);
+            }
+        }
+        else
+        {
+            m_log.WarnFormat("{0} GetRootAndChildPhysActors: cannot find script object in scene. hostID={1}", LogHeader, hostID);
+        }
+
+        return ret;
+    }
+
+    // Find the root and child PhysActors based on the linkNum.
+    // Return 'true' if both are found and returned.
+    private bool GetRootAndChildPhysActors(UUID hostID, int linkNum, out PhysicsActor rootPhysActor, out PhysicsActor childPhysActor)
+    {
+        bool ret = false;
+        rootPhysActor = null;
+        childPhysActor = null;
+
+        SceneObjectGroup containingGroup;
+        SceneObjectPart rootPart;
+
+        if (GetRootPhysActor(hostID, out containingGroup, out rootPart, out rootPhysActor))
+        {
+            SceneObjectPart linkPart = containingGroup.GetLinkNumPart(linkNum);
+            if (linkPart != null)
+            {
+                childPhysActor = linkPart.PhysActor;
+                if (childPhysActor != null)
+                {
+                    ret = true;
+                }
+                else
+                {
+                    m_log.WarnFormat("{0} GetRootAndChildPhysActors: Link part has no physical actor. rootName={1}, hostID={2}, linknum={3}",
+                                        LogHeader, rootPart.Name, hostID, linkNum);
+                }
+            }
+            else
+            {
+                m_log.WarnFormat("{0} GetRootAndChildPhysActors: Could not find linknum part. rootName={1}, hostID={2}, linknum={3}",
+                                    LogHeader, rootPart.Name, hostID, linkNum);
+            }
+        }
+        else
+        {
+            m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not have a physics actor. rootName={1}, hostID={2}",
+                            LogHeader, rootPart.Name, hostID);
+        }
+
+        return ret;
+    }
+
+    // Return an array of objects with the passed object as the first object of a new array
+    private object[] AddToBeginningOfArray(object firstOne, object secondOne, object[] prevArray)
+    {
+        object[] newArray = new object[2 + prevArray.Length];
+        newArray[0] = firstOne;
+        newArray[1] = secondOne;
+        prevArray.CopyTo(newArray, 2);
+        return newArray;
+    }
+
+    // Extension() returns an object. Convert that object into the integer error we expect to return.
+    private int MakeIntError(object extensionRet)
+    {
+        int ret = -1;
+        if (extensionRet != null)
+        {
+            try
+            {
+                ret = (int)extensionRet;
+            }
+            catch
+            {
+                ret = -1;
+            }
+        }
+        return ret;
     }
 }
 }