/* * 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 abstract class PhysicsScene { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); // 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 virtual void TriggerPhysicsBasedRestart() { physicsCrash handler = OnPhysicsCrash; if (handler != null) { OnPhysicsCrash(); } } public abstract void Initialise(IMesher meshmerizer, IConfigSource config); public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying); 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; } public abstract void RemoveAvatar(PhysicsActor actor); public abstract void RemovePrim(PhysicsActor prim); public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation); //To be removed public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical); public virtual PhysicsActor AddPrimShape(uint localID, string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical) { PhysicsActor ret = AddPrimShape(primName, pbs, position, size, rotation, isPhysical); if (ret != null) ret.LocalID = localID; return ret; } 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); public abstract float Simulate(float timeStep); 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) { return; } 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); } private class NullPhysicsScene : PhysicsScene { private static int m_workIndicator; public override void Initialise(IMesher meshmerizer, IConfigSource config) { // Does nothing right now } public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) { m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddAvatar({0})", position); return PhysicsActor.Null; } public override void RemoveAvatar(PhysicsActor actor) { } public override void RemovePrim(PhysicsActor prim) { } public override void SetWaterLevel(float baseheight) { } /* public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation) { m_log.InfoFormat("NullPhysicsScene : AddPrim({0},{1})", position, size); return PhysicsActor.Null; } */ public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation) //To be removed { return AddPrimShape(primName, pbs, position, size, rotation, false); } public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical) { m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddPrim({0},{1})", position, size); return PhysicsActor.Null; } public override void AddPhysicsActorTaint(PhysicsActor prim) { } public override float Simulate(float timeStep) { m_workIndicator = (m_workIndicator + 1) % 10; return 0f; } public override void GetResults() { m_log.Info("[PHYSICS]: NullPhysicsScene : GetResults()"); } public override void SetTerrain(float[] heightMap) { m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : SetTerrain({0} items)", heightMap.Length); } public override void DeleteTerrain() { } public override bool IsThreaded { get { return false; } } public override void Dispose() { } public override Dictionary<uint,float> GetTopColliders() { Dictionary<uint, float> returncolliders = new Dictionary<uint, float>(); return returncolliders; } } } 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" }