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, 639 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
new file mode 100644
index 0000000..edc41e4
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
@@ -0,0 +1,639 @@
+/*
+ * 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,
+        Water = 4
+    }
+
+    public enum PIDHoverType
+    {
+        Ground,
+        GroundAndWater,
+        Water,
+        Absolute
+    }
+
+    public struct ContactPoint
+    {
+        public Vector3 Position;
+        public Vector3 SurfaceNormal;
+        public float PenetrationDepth;
+        public float RelativeSpeed;
+        public bool CharacterFeet;
+
+        public ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth)
+        {
+            Position = position;
+            SurfaceNormal = surfaceNormal;
+            PenetrationDepth = penetrationDepth;
+            RelativeSpeed = 0f; // for now let this one be set explicity
+            CharacterFeet = true;  // keep other plugins work as before
+        }
+
+        public ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth, bool feet)
+        {
+            Position = position;
+            SurfaceNormal = surfaceNormal;
+            PenetrationDepth = penetrationDepth;
+            RelativeSpeed = 0f; // for now let this one be set explicity
+            CharacterFeet = feet;  // keep other plugins work as before
+        }
+    }
+
+    public struct ContactData
+    {
+        public float mu;
+        public float bounce;
+        public bool softcolide;
+
+        public ContactData(float _mu, float _bounce, bool _softcolide)
+        {
+            mu = _mu;
+            bounce = _bounce;
+            softcolide = _softcolide;
+        }
+    }
+    /// <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 virtual void SetVehicle(object vdata) { }
+
+        public event OutOfBounds OnOutOfBounds;
+#pragma warning restore 67
+
+        public static PhysicsActor Null
+        {
+            get { return new NullPhysicsActor(); }
+        }
+   
+        public virtual bool Building { get; set; }
+
+        public virtual void getContactData(ref ContactData cdata)
+        {
+            cdata.mu = 0;
+            cdata.bounce = 0;
+        }
+
+        public abstract bool Stopped { get; }
+
+        public abstract Vector3 Size { get; set; }
+
+        public virtual void setAvatarSize(Vector3 size, float feetOffset)
+        {
+            Size = size;
+        }
+
+        public virtual bool Phantom { get; set; }
+
+        public virtual bool IsVolumeDtc
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        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; 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; }
+
+        public virtual Vector3 OOBsize
+        {
+            get
+                {
+                Vector3 s=Size;
+                s.X *=0.5f;
+                s.Y *=0.5f;
+                s.Z *=0.5f;
+                return s;
+                } 
+        }
+
+        public virtual Vector3 OOBoffset
+        {
+            get
+            {
+                return Vector3.Zero;
+            }
+        }
+
+        public virtual float OOBRadiusSQ
+        {
+            get
+            {
+                return Size.LengthSquared() * 0.25f; // ((0.5^2)
+            }
+        }
+
+
+        public virtual float PhysicsCost
+        {
+            get
+            {
+                return 0.1f;
+            }
+        }
+
+        public virtual float StreamCost
+        {
+            get
+            {
+                return 1.0f;
+            }
+        }
+
+        /// <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();
+
+        public virtual void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { }
+
+        // Warning in a parent part it returns itself, not null
+        public virtual PhysicsActor ParentActor { get { return this; } }
+        
+
+        // 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
+    {
+        private ActorTypes m_actorType = ActorTypes.Unknown;
+
+        public override bool Stopped
+        {
+            get{ return true; }
+        }
+
+        public override Vector3 Position
+        {
+            get { return Vector3.Zero; }
+            set { return; }
+        }
+
+        public override bool SetAlwaysRun
+        {
+            get { return false; }
+            set { return; }
+        }
+
+        public override uint LocalID
+        {
+            get { return 0; }
+            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)m_actorType; }
+            set {               
+                ActorTypes type = (ActorTypes)value;
+                switch (type)
+                {
+                    case ActorTypes.Ground:
+                    case ActorTypes.Water:
+                        m_actorType = type;
+                        break;
+                    default:
+                        m_actorType = ActorTypes.Unknown;
+                        break;
+                }
+            }
+        }
+
+        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; }
+    }
+}