Merge of ubitworkvarnew with opensim/master as of 20150905.

This integrates the OpenSim refactoring to make physics, etc into modules.
AVN physics hasn't been moved to new location.
Does not compile yet.

Merge branch 'osmaster' into mbworknew1

1 files changed, 446 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..80f0fcf
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
@@ -0,0 +1,446 @@
+/*
+ * 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;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Text;
+using OpenMetaverse;
+using OpenSim.Region.PhysicsModules.SharedBase;
+using Ode.NET;
+using log4net;
+
+namespace OpenSim.Region.PhysicsModule.ODE
+{
+    /// <summary>
+    /// Processes raycast requests as ODE is in a state to be able to do them.
+    /// This ensures that it's thread safe and there will be no conflicts.
+    /// Requests get returned by a different thread then they were requested by.
+    /// </summary>
+    public class ODERayCastRequestManager
+    {
+        /// <summary>
+        /// Pending raycast requests
+        /// </summary>
+        protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();
+
+        /// <summary>
+        /// Pending ray requests
+        /// </summary>
+        protected List<ODERayRequest> m_PendingRayRequests = new List<ODERayRequest>();
+
+        /// <summary>
+        /// Scene that created this object.
+        /// </summary>
+        private OdeScene m_scene;
+
+        /// <summary>
+        /// ODE contact array to be filled by the collision testing
+        /// </summary>
+        d.ContactGeom[] contacts = new d.ContactGeom[5];
+
+        /// <summary>
+        /// ODE near callback delegate
+        /// </summary>
+        private d.NearCallback nearCallback;
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        private List<ContactResult> m_contactResults = new List<ContactResult>();
+
+
+        public ODERayCastRequestManager(OdeScene pScene)
+        {
+            m_scene = pScene;
+            nearCallback = near;
+            
+        }
+
+        /// <summary>
+        /// Queues a raycast
+        /// </summary>
+        /// <param name="position">Origin of Ray</param>
+        /// <param name="direction">Ray normal</param>
+        /// <param name="length">Ray length</param>
+        /// <param name="retMethod">Return method to send the results</param>
+        public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
+        {
+            lock (m_PendingRequests)
+            {
+                ODERayCastRequest req = new ODERayCastRequest();
+                req.callbackMethod = retMethod;
+                req.length = length;
+                req.Normal = direction;
+                req.Origin = position;
+
+                m_PendingRequests.Add(req);
+            }
+        }
+
+        /// <summary>
+        /// Queues a raycast
+        /// </summary>
+        /// <param name="position">Origin of Ray</param>
+        /// <param name="direction">Ray normal</param>
+        /// <param name="length">Ray length</param>
+        /// <param name="count"></param>
+        /// <param name="retMethod">Return method to send the results</param>
+        public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
+        {
+            lock (m_PendingRequests)
+            {
+                ODERayRequest req = new ODERayRequest();
+                req.callbackMethod = retMethod;
+                req.length = length;
+                req.Normal = direction;
+                req.Origin = position;
+                req.Count = count;
+
+                m_PendingRayRequests.Add(req);
+            }
+        }
+
+        /// <summary>
+        /// Process all queued raycast requests
+        /// </summary>
+        /// <returns>Time in MS the raycasts took to process.</returns>
+        public int ProcessQueuedRequests()
+        {
+            int time = System.Environment.TickCount;
+            lock (m_PendingRequests)
+            {
+                if (m_PendingRequests.Count > 0)
+                {
+                    ODERayCastRequest[] reqs = m_PendingRequests.ToArray();
+                    for (int i = 0; i < reqs.Length; i++)
+                    {
+                        if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast 
+                            RayCast(reqs[i]);               // if there isn't anyone to send results
+                    }
+
+                    m_PendingRequests.Clear();
+                }
+            }
+
+            lock (m_PendingRayRequests)
+            {
+                if (m_PendingRayRequests.Count > 0)
+                {
+                    ODERayRequest[] reqs = m_PendingRayRequests.ToArray();
+                    for (int i = 0; i < reqs.Length; i++)
+                    {
+                        if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast 
+                            RayCast(reqs[i]);               // if there isn't anyone to send results
+                    }
+
+                    m_PendingRayRequests.Clear();
+                }
+            }
+
+            lock (m_contactResults)
+                m_contactResults.Clear();
+
+            return System.Environment.TickCount - time;
+        }
+
+        /// <summary>
+        /// Method that actually initiates the raycast
+        /// </summary>
+        /// <param name="req"></param>
+        private void RayCast(ODERayCastRequest req)
+        {
+            // 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;
+
+            // Create the ray
+            IntPtr ray = d.CreateRay(m_scene.space, len);
+            d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
+
+            // Collide test
+            d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
+
+            // Remove Ray
+            d.GeomDestroy(ray);
+
+            // Define default results
+            bool hitYN = false;
+            uint hitConsumerID = 0;
+            float distance = 999999999999f;
+            Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
+            Vector3 snormal = Vector3.Zero;
+
+            // Find closest contact and object.
+            lock (m_contactResults)
+            {
+                foreach (ContactResult cResult in m_contactResults)
+                {
+                    if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
+                    {
+                        closestcontact = cResult.Pos;
+                        hitConsumerID = cResult.ConsumerID;
+                        distance = cResult.Depth;
+                        hitYN = true;
+                        snormal = cResult.Normal;
+                    }
+                }
+
+                m_contactResults.Clear();
+            }
+
+            // Return results
+            if (req.callbackMethod != null)
+                req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
+        }
+
+        /// <summary>
+        /// Method that actually initiates the raycast
+        /// </summary>
+        /// <param name="req"></param>
+        private void RayCast(ODERayRequest req)
+        {
+            // limit ray lenght or collisions will take all avaiable stack space
+            float len = req.length;
+            if (len > 250f)
+                len = 250f;
+
+            // Create the ray
+            IntPtr ray = d.CreateRay(m_scene.space, len);
+            d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
+
+            // Collide test
+            d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
+
+            // Remove Ray
+            d.GeomDestroy(ray);
+
+            // Find closest contact and object.
+            lock (m_contactResults)
+            {
+                // Return results
+                if (req.callbackMethod != null)
+                    req.callbackMethod(m_contactResults);
+            }
+        }
+        
+        // This is the standard Near.   Uses space AABBs to speed up detection.
+        private void near(IntPtr space, IntPtr g1, IntPtr g2)
+        {
+
+            //Don't test against heightfield Geom, or you'll be sorry!
+            
+            /*
+             terminate called after throwing an instance of 'std::bad_alloc'
+                  what():  std::bad_alloc
+                Stacktrace:
+                 
+                  at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
+                  at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
+                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
+                  at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
+                fffff>
+                  at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
+                  at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
+                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
+                0x00114>
+                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
+                  at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
+                  at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
+                  at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
+                  at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
+                  at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
+                 
+                Native stacktrace:
+                 
+                        mono [0x80d2a42]
+                        [0xb7f5840c]
+                        /lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
+                        /usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
+                        /usr/lib/libstdc++.so.6 [0xb45fa865]
+                        /usr/lib/libstdc++.so.6 [0xb45fa8a2]
+                        /usr/lib/libstdc++.so.6 [0xb45fa9da]
+                        /usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
+                        /usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
+                        libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
+                        libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
+                        libode.so(dCollide+0x102) [0xb46571b2]
+                        [0x95cfdec9]
+                        [0x8ea07fe1]
+                        [0xab260146]
+                        libode.so [0xb465a5c4]
+                        libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
+                        libode.so(dSpaceCollide2+0x177) [0xb465ac67]
+                        [0x95cf978e]
+                        [0x8ea07945]
+                        [0x95cf2bbc]
+                        [0xab2787e7]
+                        [0xab419fb3]
+                        [0xab416657]
+                        [0xab415bda]
+                        [0xb609b08e]
+                        mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
+                        mono [0x81a2f0f]
+                        mono [0x81d28b6]
+                        mono [0x81ea2c6]
+                        /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
+                        /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
+             */
+
+            // Exclude heightfield geom
+
+            if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                return;
+            if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
+                return;
+
+            // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
+            if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
+            {
+                if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                    return;
+                
+                // Separating static prim geometry spaces.
+                // We'll be calling near recursivly if one
+                // of them is a space to find all of the
+                // contact points in the space
+                try
+                {
+                    d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
+                }
+                catch (AccessViolationException)
+                {
+                    m_log.Warn("[PHYSICS]: Unable to collide test a space");
+                    return;
+                }
+                //Colliding a space or a geom with a space or a geom. so drill down
+
+                //Collide all geoms in each space..
+                //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
+                //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
+                return;
+            }
+
+            if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+                return;
+
+            int count = 0;
+            try
+            {
+                
+                if (g1 == g2)
+                    return; // Can't collide with yourself
+
+                lock (contacts)
+                {
+                    count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
+                }
+            }
+            catch (SEHException)
+            {
+                m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory.  This could be a result of really irregular terrain.  If this repeats continuously, restart using Basic Physics and terrain fill your terrain.  Restarting the sim.");
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
+                return;
+            }
+
+            PhysicsActor p1 = null;
+            PhysicsActor p2 = null;
+
+            if (g1 != IntPtr.Zero)
+                m_scene.actor_name_map.TryGetValue(g1, out p1);
+
+            if (g2 != IntPtr.Zero)
+                m_scene.actor_name_map.TryGetValue(g1, out p2);
+
+            // Loop over contacts, build results.
+            for (int i = 0; i < count; i++)
+            {
+                if (p1 != null)
+                {
+                    if (p1 is OdePrim)
+                    {
+                        ContactResult collisionresult = new ContactResult();
+                    
+                        collisionresult.ConsumerID = p1.LocalID;
+                        collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
+                        collisionresult.Depth = contacts[i].depth;
+                        collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
+                                                             contacts[i].normal.Z);
+                        lock (m_contactResults)
+                            m_contactResults.Add(collisionresult);
+                    }
+                }
+
+                if (p2 != null)
+                {
+                    if (p2 is OdePrim)
+                    {
+                        ContactResult collisionresult = new ContactResult();
+
+                        collisionresult.ConsumerID = p2.LocalID;
+                        collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
+                        collisionresult.Depth = contacts[i].depth;
+                        collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
+                                      contacts[i].normal.Z);
+
+                        lock (m_contactResults)
+                            m_contactResults.Add(collisionresult);
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// Dereference the creator scene so that it can be garbage collected if needed.
+        /// </summary>
+        internal void Dispose()
+        {
+            m_scene = null;
+        }
+    }
+
+    public struct ODERayCastRequest
+    {
+        public Vector3 Origin;
+        public Vector3 Normal;
+        public float length;
+        public RaycastCallback callbackMethod;
+    }
+
+    public struct ODERayRequest
+    {
+        public Vector3 Origin;
+        public Vector3 Normal;
+        public int Count;
+        public float length;
+        public RayCallback callbackMethod;
+    }
+}