/* * 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 System.Collections.Generic; using System.Reflection; using log4net; using Nini.Config; using OpenSim.Framework; using OpenMetaverse; namespace OpenSim.Region.Physics.Manager { public delegate void physicsCrash(); public delegate void RaycastCallback(bool hitYN, Vector3 collisionPoint, uint localid, float distance, Vector3 normal); public delegate void RayCallback(List<ContactResult> list); public delegate void JointMoved(PhysicsJoint joint); 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) ContactsUnImportant = 0x2000, BackFaceCull = 0x4000, ClosestHit = 0x8000, // some combinations LSLPhantom = 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 } public delegate void RequestAssetDelegate(UUID assetID, AssetReceivedDelegate callback); public delegate void AssetReceivedDelegate(AssetBase asset); /// <summary> /// Contact result from a raycast. /// </summary> public struct ContactResult { public Vector3 Pos; public float Depth; public uint ConsumerID; public Vector3 Normal; } public abstract class PhysicsScene { // private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); /// <summary> /// A unique identifying string for this instance of the physics engine. /// Useful in debug messages to distinguish one OdeScene instance from another. /// Usually set to include the region name that the physics engine is acting for. /// </summary> public string Name { get; protected set; } /// <summary> /// A string identifying the family of this physics engine. Most common values returned /// are "OpenDynamicsEngine" and "BulletSim" but others are possible. /// </summary> public string EngineType { get; protected set; } // The only thing that should register for this event is the SceneGraph // Anything else could cause problems. public event physicsCrash OnPhysicsCrash; public static PhysicsScene Null { get { return new NullPhysicsScene(); } } public RequestAssetDelegate RequestAssetMethod { get; set; } public virtual void TriggerPhysicsBasedRestart() { physicsCrash handler = OnPhysicsCrash; if (handler != null) { OnPhysicsCrash(); } } public abstract void Initialise(IMesher meshmerizer, IConfigSource config); /// <summary> /// Add an avatar /// </summary> /// <param name="avName"></param> /// <param name="position"></param> /// <param name="size"></param> /// <param name="isFlying"></param> /// <returns></returns> public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying); /// <summary> /// Add an avatar /// </summary> /// <param name="localID"></param> /// <param name="avName"></param> /// <param name="position"></param> /// <param name="size"></param> /// <param name="isFlying"></param> /// <returns></returns> public virtual PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying) { PhysicsActor ret = AddAvatar(avName, position, size, isFlying); if (ret != null) ret.LocalID = localID; return ret; } /// <summary> /// Remove an avatar. /// </summary> /// <param name="actor"></param> public abstract void RemoveAvatar(PhysicsActor actor); /// <summary> /// Remove a prim. /// </summary> /// <param name="prim"></param> public abstract void RemovePrim(PhysicsActor prim); public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical, uint 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; } } public virtual bool SupportsNINJAJoints { get { return false; } } public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position, Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation) { return null; } public virtual void RequestJointDeletion(string objectNameInScene) { return; } public virtual void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor) { return; } public virtual void DumpJointInfo() { return; } public event JointMoved OnJointMoved; protected virtual void DoJointMoved(PhysicsJoint joint) { // We need this to allow subclasses (but not other classes) to invoke the event; C# does // not allow subclasses to invoke the parent class event. if (OnJointMoved != null) { OnJointMoved(joint); } } public event JointDeactivated OnJointDeactivated; protected virtual void DoJointDeactivated(PhysicsJoint joint) { // We need this to allow subclasses (but not other classes) to invoke the event; C# does // not allow subclasses to invoke the parent class event. if (OnJointDeactivated != null) { OnJointDeactivated(joint); } } public event JointErrorMessage OnJointErrorMessage; protected virtual void DoJointErrorMessage(PhysicsJoint joint, string message) { // We need this to allow subclasses (but not other classes) to invoke the event; C# does // not allow subclasses to invoke the parent class event. if (OnJointErrorMessage != null) { OnJointErrorMessage(joint, message); } } public virtual Vector3 GetJointAnchor(PhysicsJoint joint) { return Vector3.Zero; } public virtual Vector3 GetJointAxis(PhysicsJoint joint) { return Vector3.Zero; } public abstract void AddPhysicsActorTaint(PhysicsActor prim); /// <summary> /// Perform a simulation of the current physics scene over the given timestep. /// </summary> /// <param name="timeStep"></param> /// <returns>The number of frames simulated over that period.</returns> public abstract float Simulate(float timeStep); /// <summary> /// Get statistics about this scene. /// </summary> /// <remarks>This facility is currently experimental and subject to change.</remarks> /// <returns> /// A dictionary where the key is the statistic name. If no statistics are supplied then returns null. /// </returns> public virtual Dictionary<string, float> GetStats() { return null; } public abstract void GetResults(); public abstract void SetTerrain(float[] heightMap); public abstract void SetWaterLevel(float baseheight); public abstract void DeleteTerrain(); public abstract void Dispose(); public abstract Dictionary<uint, float> GetTopColliders(); public abstract bool IsThreaded { get; } /// <summary> /// True if the physics plugin supports raycasting against the physics scene /// </summary> public virtual bool SupportsRayCast() { return false; } public virtual bool SupportsCombining() { return false; } public virtual void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) {} public virtual void UnCombine(PhysicsScene pScene) {} /// <summary> /// Queue a raycast against the physics scene. /// The provided callback method will be called when the raycast is complete /// /// Many physics engines don't support collision testing at the same time as /// manipulating the physics scene, so we queue the request up and callback /// a custom method when the raycast is complete. /// This allows physics engines that give an immediate result to callback immediately /// and ones that don't, to callback when it gets a result back. /// /// ODE for example will not allow you to change the scene while collision testing or /// it asserts, 'opteration not valid for locked space'. This includes adding a ray to the scene. /// /// This is named RayCastWorld to not conflict with modrex's Raycast method. /// </summary> /// <param name="position">Origin of the ray</param> /// <param name="direction">Direction of the ray</param> /// <param name="length">Length of ray in meters</param> /// <param name="retMethod">Method to call when the raycast is complete</param> public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) { if (retMethod != null) retMethod(false, Vector3.Zero, 0, 999999999999f, Vector3.Zero); } public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) { if (retMethod != null) retMethod(new List<ContactResult>()); } public virtual List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count) { return new List<ContactResult>(); } public virtual object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter) { return null; } public virtual bool SupportsRaycastWorldFiltered() { return false; } } }