1 files changed, 584 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
new file mode 100644
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--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
@@ -0,0 +1,584 @@
+/*
+ * 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 log4net;
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using OpenSim.Framework;
+using OpenMetaverse;
+
+namespace OpenSim.Region.PhysicsModules.SharedBase
+{
+    public delegate void PositionUpdate(Vector3 position);
+    public delegate void VelocityUpdate(Vector3 velocity);
+    public delegate void OrientationUpdate(Quaternion orientation);
+
+    public enum ActorTypes : int
+    {
+        Unknown = 0,
+        Agent = 1,
+        Prim = 2,
+        Ground = 3
+    }
+
+    public enum PIDHoverType
+    {
+        Ground,
+        GroundAndWater,
+        Water,
+        Absolute
+    }
+
+    public struct ContactPoint
+    {
+        public Vector3 Position;
+        public Vector3 SurfaceNormal;
+        public float PenetrationDepth;
+
+        public ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth)
+        {
+            Position = position;
+            SurfaceNormal = surfaceNormal;
+            PenetrationDepth = penetrationDepth;
+        }
+    }
+
+    /// <summary>
+    /// Used to pass collision information to OnCollisionUpdate listeners.
+    /// </summary>
+    public class CollisionEventUpdate : EventArgs
+    {
+        /// <summary>
+        /// Number of collision events in this update.
+        /// </summary>
+        public int Count { get { return m_objCollisionList.Count; } }
+
+        public bool CollisionsOnPreviousFrame { get; private set; }
+
+        public Dictionary<uint, ContactPoint> m_objCollisionList;
+
+        public CollisionEventUpdate(Dictionary<uint, ContactPoint> objCollisionList)
+        {
+            m_objCollisionList = objCollisionList;
+        }
+
+        public CollisionEventUpdate()
+        {
+            m_objCollisionList = new Dictionary<uint, ContactPoint>();
+        }
+
+        public void AddCollider(uint localID, ContactPoint contact)
+        {
+            if (!m_objCollisionList.ContainsKey(localID))
+            {
+                m_objCollisionList.Add(localID, contact);
+            }
+            else
+            {
+                if (m_objCollisionList[localID].PenetrationDepth < contact.PenetrationDepth)
+                    m_objCollisionList[localID] = contact;
+            }
+        }
+
+        /// <summary>
+        /// Clear added collision events.
+        /// </summary>
+        public void Clear()
+        {
+            m_objCollisionList.Clear();
+        }
+    }
+
+    public abstract class PhysicsActor
+    {
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        public delegate void RequestTerseUpdate();
+        public delegate void CollisionUpdate(EventArgs e);
+        public delegate void OutOfBounds(Vector3 pos);
+
+// disable warning: public events
+#pragma warning disable 67
+        public event PositionUpdate OnPositionUpdate;
+        public event VelocityUpdate OnVelocityUpdate;
+        public event OrientationUpdate OnOrientationUpdate;
+        public event RequestTerseUpdate OnRequestTerseUpdate;
+
+        /// <summary>
+        /// Subscribers to this event must synchronously handle the dictionary of collisions received, since the event
+        /// object is reused in subsequent physics frames.
+        /// </summary>
+        public event CollisionUpdate OnCollisionUpdate;
+
+        public event OutOfBounds OnOutOfBounds;
+#pragma warning restore 67
+
+        public static PhysicsActor Null
+        {
+            get { return new NullPhysicsActor(); }
+        }
+
+        public abstract bool Stopped { get; }
+
+        public abstract Vector3 Size { get; set; }
+
+        public virtual byte PhysicsShapeType { get; set; }
+
+        public abstract PrimitiveBaseShape Shape { set; }
+
+        uint m_baseLocalID;
+        public virtual uint LocalID
+        {
+            set { m_baseLocalID = value; }
+            get { return m_baseLocalID; }
+        }
+
+        public abstract bool Grabbed { set; }
+
+        public abstract bool Selected { set; }
+
+        /// <summary>
+        /// Name of this actor.
+        /// </summary>
+        /// <remarks>
+        /// 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; }
+
+        /// <summary>
+        /// This is being used by ODE joint code.
+        /// </summary>
+        public string SOPName;
+
+        public abstract void CrossingFailure();
+
+        public abstract void link(PhysicsActor obj);
+
+        public abstract void delink();
+
+        public abstract void LockAngularMotion(Vector3 axis);
+
+        public virtual void RequestPhysicsterseUpdate()
+        {
+            // Make a temporary copy of the event to avoid possibility of
+            // a race condition if the last subscriber unsubscribes
+            // immediately after the null check and before the event is raised.
+            RequestTerseUpdate handler = OnRequestTerseUpdate;
+
+            if (handler != null)
+            {
+                handler();
+            }
+        }
+
+        public virtual void RaiseOutOfBounds(Vector3 pos)
+        {
+            // Make a temporary copy of the event to avoid possibility of
+            // a race condition if the last subscriber unsubscribes
+            // immediately after the null check and before the event is raised.
+            OutOfBounds handler = OnOutOfBounds;
+
+            if (handler != null)
+            {
+                handler(pos);
+            }
+        }
+
+        public virtual void SendCollisionUpdate(EventArgs e)
+        {
+            CollisionUpdate handler = OnCollisionUpdate;
+
+//            m_log.DebugFormat("[PHYSICS ACTOR]: Sending collision for {0}", LocalID);
+
+            if (handler != null)
+                handler(e);
+        }
+
+        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 Restitution { get; set; }
+
+        /// <summary>
+        /// Position of this actor.
+        /// </summary>
+        /// <remarks>
+        /// Setting this directly moves the actor to a given position.
+        /// Getting this retrieves the position calculated by physics scene updates, using factors such as velocity and
+        /// collisions.
+        /// </remarks>
+        public abstract Vector3 Position { get; set; }
+
+        public abstract float Mass { get; }
+        public abstract Vector3 Force { get; set; }
+
+        public abstract int VehicleType { get; set; }
+        public abstract void VehicleFloatParam(int param, float value);
+        public abstract void VehicleVectorParam(int param, Vector3 value);
+        public abstract void VehicleRotationParam(int param, Quaternion rotation);
+        public abstract void VehicleFlags(int param, bool remove);
+
+        /// <summary>
+        /// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
+        /// </summary>
+        public abstract void SetVolumeDetect(int param);
+
+        public abstract Vector3 GeometricCenter { get; }
+        public abstract Vector3 CenterOfMass { get; }
+
+        /// <summary>
+        /// The desired velocity of this actor.
+        /// </summary>
+        /// <remarks>
+        /// Setting this provides a target velocity for physics scene updates.
+        /// Getting this returns the last set target. Fetch Velocity to get the current velocity.
+        /// </remarks>
+        protected Vector3 m_targetVelocity;
+        public virtual Vector3 TargetVelocity
+        {
+            get { return m_targetVelocity; }
+            set {
+                m_targetVelocity = value;
+                Velocity = m_targetVelocity;
+            }
+        }
+
+        public abstract Vector3 Velocity { get; set; }
+
+        public abstract Vector3 Torque { get; set; }
+        public abstract float CollisionScore { get; set;}
+        public abstract Vector3 Acceleration { get; set; }
+        public abstract Quaternion Orientation { get; set; }
+        public abstract int PhysicsActorType { get; set; }
+        public abstract bool IsPhysical { get; set; }
+        public abstract bool Flying { get; set; }
+        public abstract bool SetAlwaysRun { get; set; }
+        public abstract bool ThrottleUpdates { get; set; }
+        public abstract bool IsColliding { get; set; }
+        public abstract bool CollidingGround { get; set; }
+        public abstract bool CollidingObj { get; set; }
+        public abstract bool FloatOnWater { set; }
+        public abstract Vector3 RotationalVelocity { get; set; }
+        public abstract bool Kinematic { get; set; }
+        public abstract float Buoyancy { get; set; }
+
+        // Used for MoveTo
+        public abstract Vector3 PIDTarget { set; }
+        public abstract bool PIDActive { get; set; }
+        public abstract float PIDTau { set; }
+
+        // Used for llSetHoverHeight and maybe vehicle height
+        // Hover Height will override MoveTo target's Z
+        public abstract bool PIDHoverActive { set;}
+        public abstract float PIDHoverHeight { set;}
+        public abstract PIDHoverType PIDHoverType { set;}
+        public abstract float PIDHoverTau { set;}
+
+        // For RotLookAt
+        public abstract Quaternion APIDTarget { set;}
+        public abstract bool APIDActive { set;}
+        public abstract float APIDStrength { set;}
+        public abstract float APIDDamping { set;}
+        
+        public abstract void AddForce(Vector3 force, bool pushforce);
+        public abstract void AddAngularForce(Vector3 force, bool pushforce);
+        public abstract void SetMomentum(Vector3 momentum);
+        public abstract void SubscribeEvents(int ms);
+        public abstract void UnSubscribeEvents();
+        public abstract bool SubscribedEvents();
+
+        // Extendable interface for new, physics engine specific operations
+        public virtual object Extension(string pFunct, params object[] pParams)
+        {
+            // A NOP of the physics engine does not implement this feature
+            return null;
+        }
+    }
+
+    public class NullPhysicsActor : PhysicsActor
+    {
+        public override bool Stopped
+        {
+            get{ return false; }
+        }
+
+        public override Vector3 Position
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override bool SetAlwaysRun
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override uint LocalID
+        {
+            set { return; }
+        }
+
+        public override bool Grabbed
+        {
+            set { return; }
+        }
+
+        public override bool Selected
+        {
+            set { return; }
+        }
+
+        public override float Buoyancy
+        {
+            get { return 0f; }
+            set { return; }
+        }
+
+        public override bool  FloatOnWater
+        {
+            set { return; }
+        }
+
+        public override bool CollidingGround
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool CollidingObj
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override Vector3 Size
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override float Mass
+        {
+            get { return 0f; }
+        }
+
+        public override Vector3 Force
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override int VehicleType
+        {
+            get { return 0; }
+            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 Vector3 GeometricCenter
+        {
+            get { return Vector3.Zero; }
+        }
+
+        public override PrimitiveBaseShape Shape
+        {
+            set { return; }
+        }
+
+        public override Vector3 Velocity
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override Vector3 Torque
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override float CollisionScore
+        {
+            get { return 0f; }
+            set { }
+        }
+
+        public override void CrossingFailure()
+        {
+        }
+
+        public override Quaternion Orientation
+        {
+            get { return Quaternion.Identity; }
+            set { }
+        }
+
+        public override Vector3 Acceleration
+        {
+            get { return Vector3.Zero; }
+            set { }
+        }
+
+        public override bool IsPhysical
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool Flying
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool ThrottleUpdates
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override bool IsColliding
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override int PhysicsActorType
+        {
+            get { return (int) ActorTypes.Unknown; }
+            set { return; }
+        }
+
+        public override bool Kinematic
+        {
+            get { return true; }
+            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 Vector3 RotationalVelocity
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override Vector3 PIDTarget { set { return; } }
+
+        public override bool PIDActive 
+        {
+            get { return false; }
+            set { return; } 
+        }
+
+        public override float PIDTau { set { return; } }
+
+        public override float PIDHoverHeight { set { return; } }
+        public override bool PIDHoverActive { set { return; } }
+        public override PIDHoverType PIDHoverType { set { return; } }
+        public override float PIDHoverTau { set { return; } }
+        
+        public override Quaternion APIDTarget { set { return; } }
+        public override bool APIDActive { set { return; } }
+        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 UnSubscribeEvents()
+        {
+
+        }
+        public override bool SubscribedEvents()
+        {
+            return false;
+        }
+    }
+}