10 files changed, 181 insertions, 63 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs b/OpenSim/Region/PhysicsModules/Ode/AssemblyInfo.cs
index 076da78..7869739 100644
--- a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/AssemblyInfo.cs
@@ -27,6 +27,7 @@
 
 using System.Reflection;
 using System.Runtime.InteropServices;
+using Mono.Addins;
 
 // Information about this assembly is defined by the following
 // attributes.
@@ -56,3 +57,6 @@ using System.Runtime.InteropServices;
 // numbers with the '*' character (the default):
 
 [assembly : AssemblyVersion("0.8.2.*")]
+
+[assembly: Addin("OpenSim.Region.PhysicsModule.ODE", OpenSim.VersionInfo.VersionNumber)]
+[assembly: AddinDependency("OpenSim.Region.Framework", OpenSim.VersionInfo.VersionNumber)]
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
index 05eaf2a..b35c299 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
@@ -31,10 +31,10 @@ using System.Reflection;
 using OpenMetaverse;
 using Ode.NET;
 using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.PhysicsModules.SharedBase;
 using log4net;
 
-namespace OpenSim.Region.Physics.OdePlugin
+namespace OpenSim.Region.PhysicsModule.ODE
 {
     /// <summary>
     /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
@@ -511,7 +511,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
             else
             {
-                m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Size for {0} in {1}", Name, _parent_scene.Name);
+                m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Size for {0} in {1}", Name, _parent_scene.PhysicsSceneName);
             }
         }
 
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.c_comments
index 1060aa6..1060aa6 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.c_comments
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
index 2342bfa..8f8e2bd 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
@@ -46,9 +46,9 @@ using log4net;
 using OpenMetaverse;
 using Ode.NET;
 using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.PhysicsModules.SharedBase;
 
-namespace OpenSim.Region.Physics.OdePlugin
+namespace OpenSim.Region.PhysicsModule.ODE
 {
     public class ODEDynamics
     {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
index 0a99e30..5e48de6 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
@@ -50,9 +50,9 @@ using log4net;
 using OpenMetaverse;
 using Ode.NET;
 using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.PhysicsModules.SharedBase;
 
-namespace OpenSim.Region.Physics.OdePlugin
+namespace OpenSim.Region.PhysicsModule.ODE
 {
     /// <summary>
     /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
@@ -3381,7 +3381,7 @@ Console.WriteLine(" JointCreateFixed");
             {
                 m_log.WarnFormat(
                     "[ODE PRIM]: Could not get mesh/sculpt asset {0} for {1} at {2} in {3}",
-                    _pbs.SculptTexture, Name, _position, _parent_scene.Name);
+                    _pbs.SculptTexture, Name, _position, _parent_scene.PhysicsSceneName);
             }
         }          
     }
diff --git a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
index fa2ed3e..80f0fcf 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
@@ -31,11 +31,11 @@ using System.Reflection;
 using System.Runtime.InteropServices;
 using System.Text;
 using OpenMetaverse;
-using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.PhysicsModules.SharedBase;
 using Ode.NET;
 using log4net;
 
-namespace OpenSim.Region.Physics.OdePlugin
+namespace OpenSim.Region.PhysicsModule.ODE
 {
     /// <summary>
     /// Processes raycast requests as ODE is in a state to be able to do them.
@@ -172,7 +172,9 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// <param name="req"></param>
         private void RayCast(ODERayCastRequest req)
         {
-            // limit ray lenght or collisions will take all avaiable stack space
+            // NOTE: limit ray lenght or collisions will take all avaiable stack space
+            // this value may still be too large, depending on machine configuration
+            // of maximum stack
             float len = req.length;
             if (len > 250f)
                 len = 250f;
@@ -441,4 +443,4 @@ namespace OpenSim.Region.Physics.OdePlugin
         public float length;
         public RayCallback callbackMethod;
     }
-}
\ No newline at end of file
+}
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePhysicsJoint.cs b/OpenSim/Region/PhysicsModules/Ode/OdePhysicsJoint.cs
index b4a3c48..2eb7ba6 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePhysicsJoint.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/OdePhysicsJoint.cs
@@ -29,10 +29,10 @@ using System;
 using OpenMetaverse;
 using Ode.NET;
 using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenSim.Region.Physics.OdePlugin;
+using OpenSim.Region.PhysicsModules.SharedBase;
+using OpenSim.Region.PhysicsModule.ODE;
 
-namespace OpenSim.Region.Physics.OdePlugin
+namespace OpenSim.Region.PhysicsModule.ODE
 {
     class OdePhysicsJoint : PhysicsJoint
     {
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
index 812b469..26210d6 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
@@ -25,13 +25,11 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-// Ubit changes for varsize regions
-// using a large Heightfield geometry for terrain
-// ODE ode should handle it fine
-// EXCEPT raycasts, those need to have limited range
+// changes for varsize regions
+// note that raycasts need to have limited range
 // (even in normal regions)
-// or aplication stack will just blowup
-
+// or aplication thread stack may just blowup
+// see RayCast(ODERayCastRequest req)
 
 //#define USE_DRAWSTUFF
 //#define SPAM
@@ -46,15 +44,19 @@ using System.Runtime.InteropServices;
 using System.Threading;
 using log4net;
 using Nini.Config;
+using Mono.Addins;
 using Ode.NET;
 using OpenMetaverse;
 #if USE_DRAWSTUFF
 using Drawstuff.NET;
 #endif 
 using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.PhysicsModules.SharedBase;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Framework.Interfaces;
+
 
-namespace OpenSim.Region.Physics.OdePlugin
+namespace OpenSim.Region.PhysicsModule.ODE
 {
     public enum StatusIndicators : int
     {
@@ -109,9 +111,12 @@ namespace OpenSim.Region.Physics.OdePlugin
         Rubber = 6
     }
 
-    public class OdeScene : PhysicsScene
+    [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "ODEPhysicsScene")]
+    public class OdeScene : PhysicsScene, INonSharedRegionModule
     {
-        private readonly ILog m_log;
+        private readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString());
+        private bool m_Enabled = false;
+
         // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
 
         /// <summary>
@@ -298,7 +303,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private int framecount = 0;
         //private int m_returncollisions = 10;
 
-        private readonly IntPtr contactgroup;
+        private IntPtr contactgroup;
 
 //        internal IntPtr WaterGeom;
 
@@ -530,19 +535,103 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         private ODERayCastRequestManager m_rayCastManager;
 
+
+        #region INonSharedRegionModule
+        public string Name
+        {
+            get { return "OpenDynamicsEngine"; }
+        }
+
+        public Type ReplaceableInterface
+        {
+            get { return null; }
+        }
+
+        public void Initialise(IConfigSource source)
+        {
+            // TODO: Move this out of Startup
+            IConfig config = source.Configs["Startup"];
+            if (config != null)
+            {
+                string physics = config.GetString("physics", string.Empty);
+                if (physics == Name)
+                {
+                    m_Enabled = true;
+                    m_config = source;
+
+                    // We do this so that OpenSimulator on Windows loads the correct native ODE library depending on whether
+                    // it's running as a 32-bit process or a 64-bit one.  By invoking LoadLibary here, later DLLImports
+                    // will find it already loaded later on.
+                    //
+                    // This isn't necessary for other platforms (e.g. Mac OSX and Linux) since the DLL used can be
+                    // controlled in Ode.NET.dll.config
+                    if (Util.IsWindows())
+                        Util.LoadArchSpecificWindowsDll("ode.dll");
+
+                    // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
+                    // http://opensimulator.org/mantis/view.php?id=2750).
+                    d.InitODE();
+
+                }
+            }
+
+        }
+
+        public void Close()
+        {
+        }
+
+        public void AddRegion(Scene scene)
+        {
+            if (!m_Enabled)
+                return;
+
+            EngineType = Name;
+            PhysicsSceneName = EngineType + "/" + scene.RegionInfo.RegionName;
+
+            scene.RegisterModuleInterface<PhysicsScene>(this);
+            Vector3 extent = new Vector3(scene.RegionInfo.RegionSizeX, scene.RegionInfo.RegionSizeY, scene.RegionInfo.RegionSizeZ);
+            Initialise(extent);
+            InitialiseFromConfig(m_config);
+
+            // This may not be that good since terrain may not be avaiable at this point
+            base.Initialise(scene.PhysicsRequestAsset, 
+                (scene.Heightmap != null ? scene.Heightmap.GetFloatsSerialised() : new float[(int)(extent.X * extent.Y)]), 
+                (float)scene.RegionInfo.RegionSettings.WaterHeight);
+
+        }
+
+        public void RemoveRegion(Scene scene)
+        {
+            if (!m_Enabled)
+                return;
+        }
+
+        public void RegionLoaded(Scene scene)
+        {
+            if (!m_Enabled)
+                return;
+
+            mesher = scene.RequestModuleInterface<IMesher>();
+            if (mesher == null)
+                m_log.WarnFormat("[ODE SCENE]: No mesher in {0}. Things will not work well.", PhysicsSceneName);
+        }
+        #endregion
+
         /// <summary>
         /// Initiailizes the scene
         /// Sets many properties that ODE requires to be stable
         /// These settings need to be tweaked 'exactly' right or weird stuff happens.
         /// </summary>
-        /// <param value="name">Name of the scene.  Useful in debug messages.</param>
-        public OdeScene(string engineType, string name)
+        private void Initialise(Vector3 regionExtent)
         {
-            m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + name);
-
-            Name = name;
-            EngineType = engineType;
-
+                        WorldExtents.X = regionExtent.X;
+            m_regionWidth = (uint)regionExtent.X;
+            WorldExtents.Y = regionExtent.Y;
+            m_regionHeight = (uint)regionExtent.Y;
+                        
+            m_suportCombine = false;
+                        
             nearCallback = near;
             triCallback = TriCallback;
             triArrayCallback = TriArrayCallback;
@@ -597,7 +686,6 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
             InitializeExtraStats();
 
-            mesher = meshmerizer;
             m_config = config;
             // Defaults
 
@@ -725,11 +813,11 @@ namespace OpenSim.Region.Physics.OdePlugin
             spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeterX);
             spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeterY);
 
-            // ubit: limit number of spaces
+            // note: limit number of spaces
             if (spaceGridMaxX > 24)
             {
                 spaceGridMaxX = 24;
-                spacesPerMeterX = spaceGridMaxX / WorldExtents.X ;
+                spacesPerMeterX =  spaceGridMaxX / WorldExtents.X;
             }
             if (spaceGridMaxY > 24)
             {
@@ -1862,7 +1950,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
                 catch (AccessViolationException)
                 {
-                    m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", Name);
+                    m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", PhysicsSceneName);
                 }
                 
                 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
@@ -3119,7 +3207,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             {
                                 m_log.ErrorFormat(
                                     "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2} due to defect found when moving",
-                                    actor.Name, actor.LocalID, Name);
+                                    actor.Name, actor.LocalID, PhysicsSceneName);
 
                                 RemoveCharacter(actor);
                                 actor.DestroyOdeStructures();
@@ -3236,7 +3324,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     {
                         m_log.ErrorFormat(
                             "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2} due to defect found when updating position and velocity",
-                            actor.Name, actor.LocalID, Name);
+                            actor.Name, actor.LocalID, PhysicsSceneName);
 
                         RemoveCharacter(actor);
                         actor.DestroyOdeStructures();
@@ -3835,7 +3923,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private void SetTerrain(float[] heightMap, Vector3 pOffset)
         {
             int startTime = Util.EnvironmentTickCount();
-            m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", Name, pOffset);
+            m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", PhysicsSceneName, pOffset);
 
             
             float[] _heightmap;
@@ -3873,6 +3961,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             uint xt = 0;
             xx = 0;
 
+
             for (uint x = 0; x < heightmapWidthSamples; x++)
             {
                 if (x > 1 && xx < maxXX)
@@ -3951,7 +4040,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
 
             m_log.DebugFormat(
-                "[ODE SCENE]: Setting terrain for {0} took {1}ms", Name, Util.EnvironmentTickCountSubtract(startTime));
+                "[ODE SCENE]: Setting terrain for {0} took {1}ms", PhysicsSceneName, Util.EnvironmentTickCountSubtract(startTime));
         }
 
         public override void DeleteTerrain()
diff --git a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/PhysicsModules/Ode/Tests/ODETestClass.cs
index 16404c6..6dc22bd 100644
--- a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/Tests/ODETestClass.cs
@@ -30,51 +30,74 @@ using Nini.Config;
 using NUnit.Framework;
 using OpenMetaverse;
 using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenSim.Region.Physics.OdePlugin;
+using OpenSim.Region.PhysicsModules.SharedBase;
+using OpenSim.Region.PhysicsModule.ODE;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Tests.Common;
 using log4net;
 using System.Reflection;
 
-namespace OpenSim.Region.Physics.OdePlugin.Tests
+namespace OpenSim.Region.PhysicsModule.ODE.Tests
 {
     [TestFixture]
     public class ODETestClass : OpenSimTestCase
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
-        private OpenSim.Region.Physics.OdePlugin.OdePlugin cbt;
-        private PhysicsScene ps;
-        private IMeshingPlugin imp;
+        //private OpenSim.Region.PhysicsModule.ODE.OdePlugin cbt;
+        private PhysicsScene pScene;
 
         [SetUp]
         public void Initialize()
         {
-            IConfigSource TopConfig = new IniConfigSource();
-            IConfig config = TopConfig.AddConfig("Startup");
-            config.Set("DecodedSculptMapPath","j2kDecodeCache");
+            IConfigSource openSimINI = new IniConfigSource();
+            IConfig startupConfig = openSimINI.AddConfig("Startup");
+            startupConfig.Set("physics", "OpenDynamicsEngine");
+            startupConfig.Set("DecodedSculptMapPath", "j2kDecodeCache");
+
+            Vector3 regionExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
+
+            //PhysicsScene pScene = physicsPluginManager.GetPhysicsScene(
+            //                "BulletSim", "Meshmerizer", openSimINI, "BSTestRegion", regionExtent);
+            RegionInfo info = new RegionInfo();
+            info.RegionName = "ODETestRegion";
+            info.RegionSizeX = info.RegionSizeY = info.RegionSizeZ = Constants.RegionSize;
+            OpenSim.Region.Framework.Scenes.Scene scene = new OpenSim.Region.Framework.Scenes.Scene(info);
+
+            //IMesher mesher = new OpenSim.Region.PhysicsModules.Meshing.Meshmerizer();
+            //INonSharedRegionModule mod = mesher as INonSharedRegionModule;
+            //mod.Initialise(openSimINI);
+            //mod.AddRegion(scene);
+            //mod.RegionLoaded(scene);
+
+            pScene = new OdeScene();
+            Console.WriteLine("HERE " + (pScene == null ? "Null" : "Not null"));
+            INonSharedRegionModule mod = (pScene as INonSharedRegionModule);
+            Console.WriteLine("HERE " + (mod == null ? "Null" : "Not null"));
+            mod.Initialise(openSimINI);
+            mod.AddRegion(scene);
+            mod.RegionLoaded(scene);
 
             // Loading ODEPlugin
-            cbt = new OdePlugin();
-            // Loading Zero Mesher
-            imp = new ZeroMesherPlugin();
+            //cbt = new OdePlugin();
             // Getting Physics Scene
-            ps = cbt.GetScene("test");
+            //ps = cbt.GetScene("test");
             // Initializing Physics Scene.
-            ps.Initialise(imp.GetMesher(TopConfig),null);
+            //ps.Initialise(imp.GetMesher(TopConfig), null, Vector3.Zero);
             float[] _heightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
             for (int i = 0; i < ((int)Constants.RegionSize * (int)Constants.RegionSize); i++)
             {
                 _heightmap[i] = 21f;
             }
-            ps.SetTerrain(_heightmap);
+            pScene.SetTerrain(_heightmap);
         }
 
         [TearDown]
         public void Terminate()
         {
-            ps.DeleteTerrain();
-            ps.Dispose();
+            pScene.DeleteTerrain();
+            pScene.Dispose();
 
         }
 
@@ -85,9 +108,9 @@ namespace OpenSim.Region.Physics.OdePlugin.Tests
             Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
             Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
             Quaternion rot = Quaternion.Identity;
-            PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true, 0);
+            PhysicsActor prim = pScene.AddPrimShape("CoolShape", newcube, position, size, rot, true, 0);
             OdePrim oprim = (OdePrim)prim;
-            OdeScene pscene = (OdeScene) ps;
+            OdeScene pscene = (OdeScene)pScene;
 
             Assert.That(oprim.m_taintadd);
 
@@ -95,7 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin.Tests
 
             for (int i = 0; i < 58; i++)
             {
-                ps.Simulate(0.133f);
+                pScene.Simulate(0.133f);
 
                 Assert.That(oprim.prim_geom != (IntPtr)0);
 
@@ -119,9 +142,9 @@ namespace OpenSim.Region.Physics.OdePlugin.Tests
             // Make sure we're not somewhere above the ground
             Assert.That(prim.Position.Z < 21.5f);
 
-            ps.RemovePrim(prim);
+            pScene.RemovePrim(prim);
             Assert.That(oprim.m_taintremove);
-            ps.Simulate(0.133f);
+            pScene.Simulate(0.133f);
             Assert.That(oprim.Body == (IntPtr)0);
         }
     }
diff --git a/OpenSim/Region/Physics/OdePlugin/drawstuff.cs b/OpenSim/Region/PhysicsModules/Ode/drawstuff.cs
index 87ca446..87ca446 100644
--- a/OpenSim/Region/Physics/OdePlugin/drawstuff.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/drawstuff.cs