1 files changed, 298 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/POSPlugin/POSScene.cs b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
new file mode 100644
index 0000000..e9ecaa5
--- /dev/null
+++ b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
@@ -0,0 +1,298 @@
+/*
+ * 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 OpenSim 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 Axiom.Math;
+using Nini.Config;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.POSPlugin
+{
+    public class POSScene : PhysicsScene
+    {
+        private List<POSCharacter> _characters = new List<POSCharacter>();
+        private List<POSPrim> _prims = new List<POSPrim>();
+        private float[] _heightMap;
+        private const float gravity = -9.8f;
+
+        public POSScene()
+        {
+        }
+
+        public override void Initialise(IMesher meshmerizer, IConfigSource config)
+        {
+        }
+
+        public override void Dispose()
+        {
+        }
+
+        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size)
+        {
+            POSCharacter act = new POSCharacter();
+            act.Position = position;
+            _characters.Add(act);
+            return act;
+        }
+
+        public override void SetWaterLevel(float baseheight)
+        {
+        }
+
+        public override void RemovePrim(PhysicsActor prim)
+        {
+            POSPrim p = (POSPrim) prim;
+            if (_prims.Contains(p))
+            {
+                _prims.Remove(p);
+            }
+        }
+
+        public override void RemoveAvatar(PhysicsActor character)
+        {
+            POSCharacter act = (POSCharacter) character;
+            if (_characters.Contains(act))
+            {
+                _characters.Remove(act);
+            }
+        }
+
+/*
+        public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
+        {
+            return null;
+        }
+*/
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+                                                  PhysicsVector size, Quaternion rotation)
+        {
+            return AddPrimShape(primName, pbs, position, size, rotation, false);
+        }
+
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
+                                                  PhysicsVector size, Quaternion rotation, bool isPhysical)
+        {
+            POSPrim prim = new POSPrim();
+            prim.Position = position;
+            prim.Orientation = rotation;
+            prim.Size = size;
+            _prims.Add(prim);
+            return prim;
+        }
+
+        private bool check_collision(POSCharacter c, POSPrim p)
+        {
+            /*
+            Console.WriteLine("checking whether " + c + " collides with " + p +
+                " absX: " + Math.Abs(p.Position.X - c.Position.X) +
+                " sizeX: " + p.Size.X * 0.5 + 0.5);
+             */
+
+            Vector3 rotatedPos = p.Orientation.Inverse() *
+                                 new Vector3(c.Position.X - p.Position.X, c.Position.Y - p.Position.Y,
+                                             c.Position.Z - p.Position.Z);
+            Vector3 avatarSize = p.Orientation.Inverse()*new Vector3(c.Size.X, c.Size.Y, c.Size.Z);
+
+            if (Math.Abs(rotatedPos.x) >= (p.Size.X*0.5 + Math.Abs(avatarSize.x)) ||
+                Math.Abs(rotatedPos.y) >= (p.Size.Y*0.5 + Math.Abs(avatarSize.y)) ||
+                Math.Abs(rotatedPos.z) >= (p.Size.Z*0.5 + Math.Abs(avatarSize.z)))
+            {
+                return false;
+            }
+            return true;
+        }
+
+        private bool check_all_prims(POSCharacter c)
+        {
+            for (int i = 0; i < _prims.Count; ++i)
+            {
+                if (check_collision(c, _prims[i]))
+                {
+                    return true;
+                }
+            }
+
+            return false;
+        }
+
+        public override void AddPhysicsActorTaint(PhysicsActor prim)
+        {
+        }
+
+        public override float Simulate(float timeStep)
+        {
+            float fps = 0;
+            for (int i = 0; i < _characters.Count; ++i)
+            {
+                fps++;
+                POSCharacter character = _characters[i];
+
+                float oldposX = character.Position.X;
+                float oldposY = character.Position.Y;
+                float oldposZ = character.Position.Z;
+
+                if (!character.Flying)
+                {
+                    character._target_velocity.Z += gravity*timeStep;
+                }
+
+                bool forcedZ = false;
+                character.Position.X += character._target_velocity.X*timeStep;
+                character.Position.Y += character._target_velocity.Y*timeStep;
+
+                if (character.Position.Y < 0)
+                {
+                    character.Position.Y = 0.1F;
+                }
+                else if (character.Position.Y >= Constants.RegionSize)
+                {
+                    character.Position.Y = Constants.RegionSize - 0.1f;
+                }
+
+                if (character.Position.X < 0)
+                {
+                    character.Position.X = 0.1F;
+                }
+                else if (character.Position.X >= Constants.RegionSize)
+                {
+                    character.Position.X = Constants.RegionSize - 0.1f;
+                }
+
+                float terrainheight = _heightMap[(int)character.Position.Y * Constants.RegionSize + (int)character.Position.X];
+                if (character.Position.Z + (character._target_velocity.Z*timeStep) < terrainheight + 2)
+                {
+                    character.Position.Z = terrainheight + 1.0f;
+                    forcedZ = true;
+                }
+                else
+                {
+                    character.Position.Z += character._target_velocity.Z*timeStep;
+                }
+
+                /// this is it -- the magic you've all been waiting for!  Ladies and gentlemen --
+                /// Completely Bogus Collision Detection!!!
+                /// better known as the CBCD algorithm
+
+                if (check_all_prims(character))
+                {
+                    character.Position.Z = oldposZ; //  first try Z axis
+                    if (check_all_prims(character))
+                    {
+                        character.Position.Z = oldposZ + 0.4f; // try harder
+                        if (check_all_prims(character))
+                        {
+                            character.Position.X = oldposX;
+                            character.Position.Y = oldposY;
+                            character.Position.Z = oldposZ;
+                            character.Position.X += character._target_velocity.X * timeStep;
+                            if (check_all_prims(character))
+                            {
+                                character.Position.X = oldposX;
+                            }
+                            character.Position.Y += character._target_velocity.Y * timeStep;
+                            if (check_all_prims(character))
+                            {
+                                character.Position.Y = oldposY;
+                            }
+                        }
+                        else
+                        {
+                            forcedZ = true;
+                        }
+                    }
+                    else
+                    {
+                        forcedZ = true;
+                    }
+                }
+
+                if (character.Position.Y < 0)
+                {
+                    character.Position.Y = 0.1F;
+                }
+                else if (character.Position.Y >= Constants.RegionSize)
+                {
+                    character.Position.Y = Constants.RegionSize - 0.1f;
+                }
+
+                if (character.Position.X < 0)
+                {
+                    character.Position.X = 0.1F;
+                }
+                else if (character.Position.X >= Constants.RegionSize)
+                {
+                    character.Position.X = Constants.RegionSize - 0.1f;
+                }
+
+                character._velocity.X = (character.Position.X - oldposX)/timeStep;
+                character._velocity.Y = (character.Position.Y - oldposY)/timeStep;
+
+                if (forcedZ)
+                {
+                    character._velocity.Z = 0;
+                    character._target_velocity.Z = 0;
+                    ((PhysicsActor)character).IsColliding = true;
+                    character.RequestPhysicsterseUpdate();
+                }
+                else
+                {
+                    ((PhysicsActor)character).IsColliding = false;
+                    character._velocity.Z = (character.Position.Z - oldposZ)/timeStep;
+                }
+            }
+            return fps;
+        }
+
+        public override void GetResults()
+        {
+        }
+
+        public override bool IsThreaded
+        {
+            // for now we won't be multithreaded
+            get { return (false); }
+        }
+
+        public override void SetTerrain(float[] heightMap)
+        {
+            _heightMap = heightMap;
+        }
+
+        public override void DeleteTerrain()
+        {
+        }
+
+        public override Dictionary<uint, float> GetTopColliders()
+        {
+            Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
+            return returncolliders;
+        }
+    }
+}