5 files changed, 234 insertions, 91 deletions

diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs
index 3a9ca1b..c32cf38 100644
--- a/OpenSim/Region/Physics/Manager/IMesher.cs
+++ b/OpenSim/Region/Physics/Manager/IMesher.cs
@@ -36,6 +36,7 @@ namespace OpenSim.Region.Physics.Manager
     {
         IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
         IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical,bool convex);
     }
 
     // Values for level of detail to be passed to the mesher.
@@ -65,5 +66,6 @@ namespace OpenSim.Region.Physics.Manager
         void releasePinned();
         void Append(IMesh newMesh);
         void TransformLinear(float[,] matrix, float[] offset);
+        Vector3 GetCentroid();
     }
 }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index 0587054..a2c72c3 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -43,7 +43,8 @@ namespace OpenSim.Region.Physics.Manager
         Unknown = 0,
         Agent = 1,
         Prim = 2,
-        Ground = 3
+        Ground = 3,
+        Water = 4
     }
 
     public enum PIDHoverType
@@ -59,15 +60,30 @@ namespace OpenSim.Region.Physics.Manager
         public Vector3 Position;
         public Vector3 SurfaceNormal;
         public float PenetrationDepth;
+        public float RelativeSpeed;
 
         public ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth)
         {
             Position = position;
             SurfaceNormal = surfaceNormal;
             PenetrationDepth = penetrationDepth;
+            RelativeSpeed = 0f; // for now let this one be set explicity
         }
     }
 
+    public struct ContactData
+    {
+        public float mu;
+        public float bounce;
+        public bool softcolide;
+
+        public ContactData(float _mu, float _bounce, bool _softcolide)
+        {
+            mu = _mu;
+            bounce = _bounce;
+            softcolide = _softcolide;
+        }
+    }
     /// <summary>
     /// Used to pass collision information to OnCollisionUpdate listeners.
     /// </summary>
@@ -99,7 +115,7 @@ namespace OpenSim.Region.Physics.Manager
                 m_objCollisionList.Add(localID, contact);
             }
             else
-            {
+            {              
                 if (m_objCollisionList[localID].PenetrationDepth < contact.PenetrationDepth)
                     m_objCollisionList[localID] = contact;
             }
@@ -135,6 +151,8 @@ namespace OpenSim.Region.Physics.Manager
         /// </summary>
         public event CollisionUpdate OnCollisionUpdate;
 
+        public virtual void SetVehicle(object vdata) { }
+
         public event OutOfBounds OnOutOfBounds;
 #pragma warning restore 67
 
@@ -142,11 +160,29 @@ namespace OpenSim.Region.Physics.Manager
         {
             get { return new NullPhysicsActor(); }
         }
+   
+        public virtual bool Building { get; set; }
+
+        public virtual void getContactData(ref ContactData cdata)
+        {
+            cdata.mu = 0;
+            cdata.bounce = 0;
+        }
 
         public abstract bool Stopped { get; }
 
         public abstract Vector3 Size { get; set; }
 
+        public virtual bool Phantom { get; set; }
+
+        public virtual bool IsVolumeDtc
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public virtual byte PhysicsShapeType { get; set; }
+
         public abstract PrimitiveBaseShape Shape { set; }
 
         uint m_baseLocalID;
@@ -167,7 +203,7 @@ namespace OpenSim.Region.Physics.Manager
         /// XXX: Bizarrely, this cannot be "Terrain" or "Water" right now unless it really is simulating terrain or
         /// water.  This is not a problem due to the formatting of names given by prims and avatars.
         /// </remarks>
-        public string Name { get; protected set; }
+        public string Name { get; set; }
 
         /// <summary>
         /// This is being used by ODE joint code.
@@ -218,9 +254,11 @@ namespace OpenSim.Region.Physics.Manager
                 handler(e);
         }
 
-        public virtual void SetMaterial (int material)
-        {
-        }
+        public virtual void SetMaterial (int material) { }
+        public virtual float Density { get; set; }
+        public virtual float GravModifier { get; set; }
+        public virtual float Friction { get; set; }
+        public virtual float Bounce { get; set; }
 
         /// <summary>
         /// Position of this actor.
@@ -249,6 +287,34 @@ namespace OpenSim.Region.Physics.Manager
         public abstract Vector3 GeometricCenter { get; }
         public abstract Vector3 CenterOfMass { get; }
 
+        public virtual Vector3 OOBsize
+        {
+            get
+                {
+                Vector3 s=Size;
+                s.X *=0.5f;
+                s.Y *=0.5f;
+                s.Z *=0.5f;
+                return s;
+                } 
+        }
+
+        public virtual Vector3 OOBoffset
+        {
+            get
+            {
+                return Vector3.Zero;
+            }
+        }
+
+        public virtual float OOBRadiusSQ
+        {
+            get
+            {
+                return Size.LengthSquared() * 0.25f; // ((0.5^2)
+            }
+        }
+
         /// <summary>
         /// Velocity of this actor.
         /// </summary>
@@ -300,13 +366,21 @@ namespace OpenSim.Region.Physics.Manager
         public abstract void SubscribeEvents(int ms);
         public abstract void UnSubscribeEvents();
         public abstract bool SubscribedEvents();
+
+        public virtual void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { }
+
+        // Warning in a parent part it returns itself, not null
+        public virtual PhysicsActor ParentActor { get { return this; } }
+        
     }
 
     public class NullPhysicsActor : PhysicsActor
     {
+        private ActorTypes m_actorType = ActorTypes.Unknown;
+
         public override bool Stopped
         {
-            get{ return false; }
+            get{ return true; }
         }
 
         public override Vector3 Position
@@ -323,6 +397,7 @@ namespace OpenSim.Region.Physics.Manager
 
         public override uint LocalID
         {
+            get { return 0; }
             set { return; }
         }
 
@@ -382,50 +457,17 @@ namespace OpenSim.Region.Physics.Manager
             set { return; }
         }
 
-        public override void VehicleFloatParam(int param, float value)
-        {
-
-        }
-
-        public override void VehicleVectorParam(int param, Vector3 value)
-        {
-
-        }
-
-        public override void VehicleRotationParam(int param, Quaternion rotation)
-        {
-
-        }
-
-        public override void VehicleFlags(int param, bool remove)
-        {
-            
-        }
-
-        public override void SetVolumeDetect(int param)
-        {
-
-        }
-
-        public override void SetMaterial(int material)
-        {
-            
-        }
-
-        public override Vector3 CenterOfMass
-        {
-            get { return Vector3.Zero; }
-        }
+        public override void VehicleFloatParam(int param, float value) {}
+        public override void VehicleVectorParam(int param, Vector3 value) { }
+        public override void VehicleRotationParam(int param, Quaternion rotation) { }
+        public override void VehicleFlags(int param, bool remove) { }
+        public override void SetVolumeDetect(int param) {}
+        public override void SetMaterial(int material) {}
+        public override Vector3 CenterOfMass { get { return Vector3.Zero; }}
 
-        public override Vector3 GeometricCenter
-        {
-            get { return Vector3.Zero; }
-        }
+        public override Vector3 GeometricCenter { get { return Vector3.Zero; }}
 
-        public override PrimitiveBaseShape Shape
-        {
-            set { return; }
-        }
+        public override PrimitiveBaseShape Shape { set { return; }}
 
         public override Vector3 Velocity
         {
@@ -445,9 +487,7 @@ namespace OpenSim.Region.Physics.Manager
             set { }
         }
 
-        public override void CrossingFailure()
-        {
-        }
+        public override void CrossingFailure() {}
 
         public override Quaternion Orientation
         {
@@ -487,8 +527,20 @@ namespace OpenSim.Region.Physics.Manager
 
         public override int PhysicsActorType
         {
-            get { return (int) ActorTypes.Unknown; }
-            set { return; }
+            get { return (int)m_actorType; }
+            set {               
+                ActorTypes type = (ActorTypes)value;
+                switch (type)
+                {
+                    case ActorTypes.Ground:
+                    case ActorTypes.Water:
+                        m_actorType = type;
+                        break;
+                    default:
+                        m_actorType = ActorTypes.Unknown;
+                        break;
+                }
+            }
         }
 
         public override bool Kinematic
@@ -497,26 +549,11 @@ namespace OpenSim.Region.Physics.Manager
             set { return; }
         }
 
-        public override void link(PhysicsActor obj)
-        {
-        }
-
-        public override void delink()
-        {
-        }
-
-        public override void LockAngularMotion(Vector3 axis)
-        {
-        }
-
-        public override void AddForce(Vector3 force, bool pushforce)
-        {
-        }
-
-        public override void AddAngularForce(Vector3 force, bool pushforce)
-        {
-            
-        }
+        public override void link(PhysicsActor obj) { }
+        public override void delink() { }
+        public override void LockAngularMotion(Vector3 axis) { }
+        public override void AddForce(Vector3 force, bool pushforce) { }
+        public override void AddAngularForce(Vector3 force, bool pushforce) { }
 
         public override Vector3 RotationalVelocity
         {
@@ -538,21 +575,10 @@ namespace OpenSim.Region.Physics.Manager
         public override float APIDStrength { set { return; } }
         public override float APIDDamping { set { return; } }
         
-        public override void SetMomentum(Vector3 momentum)
-        {
-        }
-
-        public override void SubscribeEvents(int ms)
-        {
+        public override void SetMomentum(Vector3 momentum) { }
 
-        }
-        public override void UnSubscribeEvents()
-        {
-
-        }
-        public override bool SubscribedEvents()
-        {
-            return false;
-        }
+        public override void SubscribeEvents(int ms) { }
+        public override void UnSubscribeEvents() { }
+        public override bool SubscribedEvents() { return false; }
     }
 }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index b32cd30..cfede55 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -43,6 +43,34 @@ namespace OpenSim.Region.Physics.Manager
     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)
+        BackFaceCull = 0x4000,
+        ClosestHit = 0x8000,
+
+        // some combinations
+        LSLPhanton = 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
+    }
+
     /// <summary>
     /// Contact result from a raycast.
     /// </summary>
@@ -54,6 +82,8 @@ namespace OpenSim.Region.Physics.Manager
         public Vector3 Normal;
     }
 
+
+
     public abstract class PhysicsScene
     {
 //        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
@@ -125,6 +155,25 @@ namespace OpenSim.Region.Physics.Manager
         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; }
@@ -236,7 +285,7 @@ namespace OpenSim.Region.Physics.Manager
         }
 
         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>
@@ -274,5 +323,23 @@ namespace OpenSim.Region.Physics.Manager
         {
             return new List<ContactResult>();
         }
+
+        public virtual object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
+        {
+            return null;
+        }
+
+        public virtual bool SuportsRaycastWorldFiltered()
+        {
+            return false;
+        }
+
+        public virtual void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod){}
+        public virtual void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) { }
+        public virtual List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count)
+        {
+            return new List<ContactResult>();
+        }
+
     }
 }
diff --git a/OpenSim/Region/Physics/Manager/VehicleConstants.cs b/OpenSim/Region/Physics/Manager/VehicleConstants.cs
index f0775c1..8e24b4c 100644
--- a/OpenSim/Region/Physics/Manager/VehicleConstants.cs
+++ b/OpenSim/Region/Physics/Manager/VehicleConstants.cs
@@ -26,6 +26,7 @@
  */
 
 using System;
+using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.Manager
 {
@@ -117,5 +118,47 @@ namespace OpenSim.Region.Physics.Manager
         NO_DEFLECTION = 16392,
         LOCK_ROTATION = 32784
     }
-        
+
+    public struct VehicleData
+    {
+        public Vehicle m_type;
+        public VehicleFlag m_flags;
+
+        // Linear properties
+        public Vector3 m_linearMotorDirection;
+        public Vector3 m_linearFrictionTimescale;
+        public float m_linearMotorDecayTimescale;
+        public float m_linearMotorTimescale;
+        public Vector3 m_linearMotorOffset;
+
+        //Angular properties
+        public Vector3 m_angularMotorDirection;
+        public float m_angularMotorTimescale;
+        public float m_angularMotorDecayTimescale;
+        public Vector3 m_angularFrictionTimescale;
+
+        //Deflection properties
+        public float m_angularDeflectionEfficiency;
+        public float m_angularDeflectionTimescale;
+        public float m_linearDeflectionEfficiency;
+        public float m_linearDeflectionTimescale;
+
+        //Banking properties
+        public float m_bankingEfficiency;
+        public float m_bankingMix;
+        public float m_bankingTimescale;
+
+        //Hover and Buoyancy properties
+        public float m_VhoverHeight;
+        public float m_VhoverEfficiency;
+        public float m_VhoverTimescale;
+        public float m_VehicleBuoyancy;
+
+        //Attractor properties
+        public float m_verticalAttractionEfficiency;
+        public float m_verticalAttractionTimescale;
+
+        // Axis
+        public Quaternion m_referenceFrame;
+    }
 }
diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
index ba19db6..8a3b50b 100644
--- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs
+++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
@@ -67,6 +67,11 @@ namespace OpenSim.Region.Physics.Manager
             return CreateMesh(primName, primShape, size, lod, false);
         }
 
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex)
+        {
+            return CreateMesh(primName, primShape, size, lod, false);
+        }
+
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
             // Remove the reference to the encoded JPEG2000 data so it can be GCed