1 files changed, 553 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
new file mode 100644
index 0000000..beffd21
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -0,0 +1,553 @@
+/*
+ * 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 copyrightD
+ *       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.Runtime.InteropServices;
+using System.Text;
+using System.Threading;
+using Nini.Config;
+using log4net;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenMetaverse;
+using OpenSim.Region.Framework;
+
+// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
+// Fix folding up feet
+// Fix terrain. Only flat terrain works. Terrain with shape is oriented wrong? Origined wrong?
+// Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ...
+// Shift drag duplication of objects does not work
+// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
+// Test sculpties
+// Compute physics FPS reasonably
+// Based on material, set density and friction
+// More efficient memory usage in passing hull information from BSPrim to BulletSim
+// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
+//     In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
+//     At the moment, physical and phantom causes object to drop through the terrain
+// Should prim.link() and prim.delink() membership checking happen at taint time?
+// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
+// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
+// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
+// Implement LockAngularMotion
+// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
+// Built Galton board (lots of MoveTo's) and some slats were not positioned correctly (mistakes scattered)
+//      No mistakes with ODE. Shape creation race condition?
+// Does NeedsMeshing() really need to exclude all the different shapes?
+// 
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSScene : PhysicsScene
+{
+    private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+    private static readonly string LogHeader = "[BULLETS SCENE]";
+
+    private Dictionary<uint, BSCharacter> m_avatars = new Dictionary<uint, BSCharacter>();
+    private Dictionary<uint, BSPrim> m_prims = new Dictionary<uint, BSPrim>();
+    private List<BSPrim> m_vehicles = new List<BSPrim>();
+    private float[] m_heightMap;
+    private float m_waterLevel;
+    private uint m_worldID;
+    public uint WorldID { get { return m_worldID; } }
+
+    public IMesher mesher;
+    public int meshLOD = 32;
+
+    private int m_maxSubSteps = 10;
+    private float m_fixedTimeStep = 1f / 60f;
+    private long m_simulationStep = 0;
+    public long SimulationStep { get { return m_simulationStep; } }
+
+    private bool _meshSculptedPrim = true;         // cause scuplted prims to get meshed
+    private bool _forceSimplePrimMeshing = false;   // if a cube or sphere, let Bullet do internal shapes
+    public float maximumMassObject = 10000.01f;
+
+    public const uint TERRAIN_ID = 0;
+    public const uint GROUNDPLANE_ID = 1;
+
+    public float DefaultFriction = 0.70f;
+    public float DefaultDensity = 10.000006836f; // Aluminum g/cm3;  TODO: compute based on object material
+    public Vector3 DefaultGravity = new Vector3(0, 0, -9.80665f);
+
+    public delegate void TaintCallback();
+    private List<TaintCallback> _taintedObjects;
+    private Object _taintLock = new Object();
+
+    private BulletSimAPI.DebugLogCallback debugLogCallbackHandle;
+
+    public BSScene(string identifier)
+    {
+    }
+
+    public override void Initialise(IMesher meshmerizer, IConfigSource config)
+    {
+        if (config != null)
+        {
+            IConfig pConfig = config.Configs["BulletSim"];
+            if (pConfig != null)
+            {
+                DefaultFriction = pConfig.GetFloat("Friction", DefaultFriction);
+                DefaultDensity = pConfig.GetFloat("Density", DefaultDensity);
+                // TODO: a lot more parameters that are passed to BulletSim
+            }
+        }
+        // if Debug, enable logging from the unmanaged code
+        if (m_log.IsDebugEnabled)
+        {
+            m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
+            debugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
+            BulletSimAPI.SetDebugLogCallback(debugLogCallbackHandle);
+        }
+
+        _meshSculptedPrim = true;           // mesh sculpted prims
+        _forceSimplePrimMeshing = false;    // use complex meshing if called for
+
+        _taintedObjects = new List<TaintCallback>();
+
+        mesher = meshmerizer;
+        // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
+        m_worldID = BulletSimAPI.Initialize(new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f));
+    }
+
+    // Called directly from unmanaged code so don't do much
+    private void BulletLogger(string msg)
+    {
+        m_log.Debug("[BULLETS UNMANAGED]:" + msg);
+    }
+
+    public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
+    {
+        m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
+        return null;
+    }
+
+    public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
+    {
+        // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
+        BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
+        lock (m_avatars) m_avatars.Add(localID, actor);
+        return actor;
+    }
+
+    public override void RemoveAvatar(PhysicsActor actor)
+    {
+        // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
+        if (actor is BSCharacter)
+        {
+            ((BSCharacter)actor).Destroy();
+        }
+        try
+        {
+            lock (m_avatars) m_avatars.Remove(actor.LocalID);
+        }
+        catch (Exception e)
+        {
+            m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
+        }
+    }
+
+    public override void RemovePrim(PhysicsActor prim)
+    {
+        // m_log.DebugFormat("{0}: RemovePrim", LogHeader);
+        if (prim is BSPrim)
+        {
+            ((BSPrim)prim).Destroy();
+        }
+        try
+        {
+            lock (m_prims) m_prims.Remove(prim.LocalID);
+        }
+        catch (Exception e)
+        {
+            m_log.WarnFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
+        }
+    }
+
+    public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                              Vector3 size, Quaternion rotation)  // deprecated
+    {
+        return null;
+    }
+    public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                              Vector3 size, Quaternion rotation, bool isPhysical)
+    {
+        m_log.ErrorFormat("{0}: CALL TO AddPrimShape in BSScene. NOT IMPLEMENTED", LogHeader);
+        return null;
+    }
+
+    public override PhysicsActor AddPrimShape(uint localID, string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                              Vector3 size, Quaternion rotation, bool isPhysical)
+    {
+        // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
+        IMesh mesh = null;
+        if (NeedsMeshing(pbs))
+        {
+            // if the prim is complex, create the mesh for it.
+            // If simple (box or sphere) leave 'mesh' null and physics will do a native shape.
+            mesh = mesher.CreateMesh(primName, pbs, size, this.meshLOD, isPhysical);
+        }
+        BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, mesh, pbs, isPhysical);
+        lock (m_prims) m_prims.Add(localID, prim);
+        return prim;
+    }
+
+    // This is a call from the simulator saying that some physical property has been updated.
+    // The BulletS driver senses the changing of relevant properties so this taint 
+    // information call is not needed.
+    public override void AddPhysicsActorTaint(PhysicsActor prim) { }
+
+    // Simulate one timestep
+    public override float Simulate(float timeStep)
+    {
+        int updatedEntityCount;
+        IntPtr updatedEntitiesPtr;
+        IntPtr[] updatedEntities;
+        int collidersCount;
+        IntPtr collidersPtr;
+        int[] colliders;    // should be uint but Marshal.Copy does not have that overload
+
+        // update the prim states while we know the physics engine is not busy
+        ProcessTaints();
+
+        // Some of the prims operate with special vehicle properties
+        ProcessVehicles(timeStep);
+        ProcessTaints();    // the vehicles might have added taints
+
+        // step the physical world one interval
+        m_simulationStep++;
+        int numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, 
+                    out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
+
+        // if there were collisions, they show up here
+        if (collidersCount > 0)
+        {
+            colliders = new int[collidersCount];
+            Marshal.Copy(collidersPtr, colliders, 0, collidersCount);
+            for (int ii = 0; ii < collidersCount; ii+=2)
+            {
+                uint cA = (uint)colliders[ii];
+                uint cB = (uint)colliders[ii+1];
+                SendCollision(cA, cB);
+                SendCollision(cB, cA);
+            }
+        }
+
+        // if any of the objects had updated properties, they are returned in the updatedEntity structure
+        // TODO: figure out how to pass all of the EntityProperties structures in one marshal call.
+        if (updatedEntityCount > 0)
+        {
+            updatedEntities = new IntPtr[updatedEntityCount];
+            // fetch all the pointers to all the EntityProperties structures for these updates
+            Marshal.Copy(updatedEntitiesPtr, updatedEntities, 0, updatedEntityCount);
+            for (int ii = 0; ii < updatedEntityCount; ii++)
+            {
+                IntPtr updatePointer = updatedEntities[ii];
+                EntityProperties entprop = (EntityProperties)Marshal.PtrToStructure(updatePointer, typeof(EntityProperties));
+                // m_log.DebugFormat("{0}: entprop: id={1}, pos={2}", LogHeader, entprop.ID, entprop.Position);
+                BSCharacter actor;
+                if (m_avatars.TryGetValue(entprop.ID, out actor))
+                {
+                    actor.UpdateProperties(entprop);
+                    continue;
+                }
+                BSPrim prim;
+                if (m_prims.TryGetValue(entprop.ID, out prim))
+                {
+                    prim.UpdateProperties(entprop);
+                }
+            }
+        }
+
+        // fps calculation wrong. This calculation returns about 1 in normal operation.
+        return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f;
+    }
+
+    // Something has collided
+    private void SendCollision(uint localID, uint collidingWith)
+    {
+        if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID)
+        {
+            // we never send collisions to the terrain
+            return;
+        }
+
+        ActorTypes type = ActorTypes.Prim;
+        if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID)
+            type = ActorTypes.Ground;
+        else if (m_avatars.ContainsKey(collidingWith))
+            type = ActorTypes.Agent;
+
+        BSPrim prim;
+        if (m_prims.TryGetValue(localID, out prim)) {
+            prim.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f);
+            return;
+        }
+        BSCharacter actor;
+        if (m_avatars.TryGetValue(localID, out actor)) {
+            actor.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f);
+            return;
+        }
+        return;
+    }
+
+    public override void GetResults() { }
+
+    public override void SetTerrain(float[] heightMap) {
+        m_log.DebugFormat("{0}: SetTerrain", LogHeader);
+        m_heightMap = heightMap;
+        this.TaintedObject(delegate()
+        {
+            BulletSimAPI.SetHeightmap(m_worldID, m_heightMap);
+        });
+    }
+
+    public float GetTerrainHeightAtXY(float tX, float tY)
+    {
+        return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)];
+    }
+
+    public override void SetWaterLevel(float baseheight) 
+    {
+        m_waterLevel = baseheight;
+    }
+    public float GetWaterLevel()
+    {
+        return m_waterLevel;
+    }
+
+    public override void DeleteTerrain() 
+    {
+        m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
+    }
+
+    public override void Dispose()
+    {
+        m_log.DebugFormat("{0}: Dispose()", LogHeader);
+    }
+
+    public override Dictionary<uint, float> GetTopColliders()
+    {
+        return new Dictionary<uint, float>();
+    }
+
+    public override bool IsThreaded { get { return false;  } }
+
+    /// <summary>
+    /// Routine to figure out if we need to mesh this prim with our mesher
+    /// </summary>
+    /// <param name="pbs"></param>
+    /// <returns>true if the prim needs meshing</returns>
+    public bool NeedsMeshing(PrimitiveBaseShape pbs)
+    {
+        // most of this is redundant now as the mesher will return null if it cant mesh a prim
+        // but we still need to check for sculptie meshing being enabled so this is the most
+        // convenient place to do it for now...
+
+        // int iPropertiesNotSupportedDefault = 0;
+
+        if (pbs.SculptEntry && !_meshSculptedPrim)
+        {
+            // m_log.DebugFormat("{0}: NeedsMeshing: scultpy mesh", LogHeader);
+            return false;
+        }
+
+        // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since Bullet 
+        // can use an internal representation for the prim
+        if (!_forceSimplePrimMeshing)
+        {
+            // m_log.DebugFormat("{0}: NeedsMeshing: simple mesh: profshape={1}, curve={2}", LogHeader, pbs.ProfileShape, pbs.PathCurve);
+            if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
+                || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
+                && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
+            {
+
+                if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
+                    && pbs.ProfileHollow == 0
+                    && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
+                    && pbs.PathBegin == 0 && pbs.PathEnd == 0
+                    && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
+                    && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
+                    && pbs.PathShearX == 0 && pbs.PathShearY == 0)
+                {
+                    return false;
+                }
+            }
+        }
+
+        /*  TODO: verify that the mesher will now do all these shapes
+        if (pbs.ProfileHollow != 0)
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
+            iPropertiesNotSupportedDefault++; 
+
+        if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
+            iPropertiesNotSupportedDefault++;
+
+        if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
+            iPropertiesNotSupportedDefault++;
+
+        if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
+            iPropertiesNotSupportedDefault++;
+
+        if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
+            iPropertiesNotSupportedDefault++;
+
+        if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
+            iPropertiesNotSupportedDefault++;
+
+        // test for torus
+        if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Curve1)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Straight)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+            // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
+            else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
+        {
+            if (pbs.PathCurve == (byte)Extrusion.Straight)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+            else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+            {
+                iPropertiesNotSupportedDefault++;
+            }
+        }
+        if (iPropertiesNotSupportedDefault == 0)
+        {
+            return false;
+        }
+         */
+        return true; 
+    }
+
+    // The calls to the PhysicsActors can't directly call into the physics engine
+    // because it might be busy. We we delay changes to a known time.
+    // We rely on C#'s closure to save and restore the context for the delegate.
+    public void TaintedObject(TaintCallback callback)
+    {
+        lock (_taintLock)
+            _taintedObjects.Add(callback);
+        return;
+    }
+
+    // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
+    // a callback into itself to do the actual property change. That callback is called
+    // here just before the physics engine is called to step the simulation.
+    public void ProcessTaints()
+    {
+        if (_taintedObjects.Count > 0)  // save allocating new list if there is nothing to process
+        {
+            // swizzle a new list into the list location so we can process what's there
+            List<TaintCallback> oldList;
+            lock (_taintLock)
+            {
+                oldList = _taintedObjects;
+                _taintedObjects = new List<TaintCallback>();
+            }
+
+            foreach (TaintCallback callback in oldList)
+            {
+                try
+                {
+                    callback();
+                }
+                catch (Exception e)
+                {
+                    m_log.ErrorFormat("{0}: ProcessTaints: Exception: {1}", LogHeader, e);
+                }
+            }
+            oldList.Clear();
+        }
+    }
+
+    #region Vehicles
+    // Make so the scene will call this prim for vehicle actions each tick.
+    // Safe to call if prim is already in the vehicle list.
+    public void AddVehiclePrim(BSPrim vehicle)
+    {
+        lock (m_vehicles)
+        {
+            if (!m_vehicles.Contains(vehicle))
+            {
+                m_vehicles.Add(vehicle);
+            }
+        }
+    }
+
+    // Remove a prim from our list of vehicles.
+    // Safe to call if the prim is not in the vehicle list.
+    public void RemoveVehiclePrim(BSPrim vehicle)
+    {
+        lock (m_vehicles)
+        {
+            if (m_vehicles.Contains(vehicle))
+            {
+                m_vehicles.Remove(vehicle);
+            }
+        }
+    }
+
+    // Some prims have extra vehicle actions
+    // no locking because only called when physics engine is not busy
+    private void ProcessVehicles(float timeStep)
+    {
+        foreach (BSPrim prim in m_vehicles)
+        {
+            prim.StepVehicle(timeStep);
+        }
+    }
+    #endregion Vehicles
+}
+}