1 files changed, 235 insertions, 94 deletions

diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
index 452ce55..163efaa 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
@@ -124,9 +124,10 @@ namespace OpenSim.Region.PhysicsModule.BulletS
         // True if initialized and ready to do simulation steps
         private bool m_initialized = false;
 
-        // Flag which is true when processing taints.
-        // Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
-        public bool InTaintTime { get; private set; }
+        // Object locked whenever execution is inside the physics engine
+        public Object PhysicsEngineLock = new object();
+        // Flag that is true when the simulator is active and shouldn't be touched
+        public bool InSimulationTime { get; private set; }
 
         // Pinned memory used to pass step information between managed and unmanaged
         internal int m_maxCollisionsPerFrame;
@@ -212,6 +213,11 @@ namespace OpenSim.Region.PhysicsModule.BulletS
             get { return "BulletSim"; }
         }
 
+        public string Version
+        {
+            get { return "1.0"; }
+        }
+
         public Type ReplaceableInterface
         {
             get { return null; }
@@ -245,6 +251,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
             EngineType = Name;
             RegionName = scene.RegionInfo.RegionName;
             PhysicsSceneName = EngineType + "/" + RegionName;
+            EngineName = Name + " " + Version;
 
             scene.RegisterModuleInterface<PhysicsScene>(this);
             Vector3 extent = new Vector3(scene.RegionInfo.RegionSizeX, scene.RegionInfo.RegionSizeY, scene.RegionInfo.RegionSizeZ);
@@ -338,19 +345,19 @@ namespace OpenSim.Region.PhysicsModule.BulletS
             // Put some informational messages into the log file.
             m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
 
-            InTaintTime = false;
+            InSimulationTime = false;
             m_initialized = true;
 
             // If the physics engine runs on its own thread, start same.
             if (BSParam.UseSeparatePhysicsThread)
             {
                 // The physics simulation should happen independently of the heartbeat loop
-                m_physicsThread 
+                m_physicsThread
                     = WorkManager.StartThread(
-                        BulletSPluginPhysicsThread, 
-                        string.Format("{0} ({1})", BulletEngineName, RegionName), 
-                        ThreadPriority.Normal, 
-                        true, 
+                        BulletSPluginPhysicsThread,
+                        string.Format("{0} ({1})", BulletEngineName, RegionName),
+                        ThreadPriority.Normal,
+                        true,
                         true);
             }
         }
@@ -523,13 +530,13 @@ namespace OpenSim.Region.PhysicsModule.BulletS
             return null;
         }
 
-        public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
+        public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, float footOffset, bool isFlying)
         {
             // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
 
             if (!m_initialized) return null;
 
-            BSCharacter actor = new BSCharacter(localID, avName, this, position, velocity, size, isFlying);
+            BSCharacter actor = new BSCharacter(localID, avName, this, position, Vector3.Zero, size, footOffset, isFlying);
             lock (PhysObjects)
                 PhysObjects.Add(localID, actor);
 
@@ -651,49 +658,57 @@ namespace OpenSim.Region.PhysicsModule.BulletS
 
             int beforeTime = Util.EnvironmentTickCount();
             int simTime = 0;
+            int numTaints = 0;
+            int numSubSteps = 0;
 
-            int numTaints = _taintOperations.Count;
-            InTaintTime = true; // Only used for debugging so locking is not necessary.
+            lock (PhysicsEngineLock)
+            {
+                InSimulationTime = true;
+                // update the prim states while we know the physics engine is not busy
+                numTaints += ProcessTaints();
 
-            // update the prim states while we know the physics engine is not busy
-            ProcessTaints();
+                // Some of the physical objects requre individual, pre-step calls
+                //      (vehicles and avatar movement, in particular)
+                TriggerPreStepEvent(timeStep);
 
-            // Some of the physical objects requre individual, pre-step calls
-            //      (vehicles and avatar movement, in particular)
-            TriggerPreStepEvent(timeStep);
+                // the prestep actions might have added taints
+                numTaints += ProcessTaints();
 
-            // the prestep actions might have added taints
-            numTaints += _taintOperations.Count;
-            ProcessTaints();
+                // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
+                // Only enable this in a limited test world with few objects.
+                if (m_physicsPhysicalDumpEnabled)
+                    PE.DumpAllInfo(World);
 
-            InTaintTime = false; // Only used for debugging so locking is not necessary.
+                // step the physical world one interval
+                m_simulationStep++;
+                try
+                {
+                    numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
+                }
+                catch (Exception e)
+                {
+                    m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
+                                LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
+                    DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
+                                DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
+                    updatedEntityCount = 0;
+                    collidersCount = 0;
+                }
 
-            // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
-            // Only enable this in a limited test world with few objects.
-            if (m_physicsPhysicalDumpEnabled)
-                PE.DumpAllInfo(World);
+                // Make the physics engine dump useful statistics periodically
+                if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0))
+                    PE.DumpPhysicsStatistics(World);
 
-            // step the physical world one interval
-            m_simulationStep++;
-            int numSubSteps = 0;
-            try
-            {
-                numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
+                InSimulationTime = false;
 
-            }
-            catch (Exception e)
-            {
-                m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
-                            LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
-                DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
-                            DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
-                updatedEntityCount = 0;
-                collidersCount = 0;
-            }
+                // Some actors want to know when the simulation step is complete.
+                TriggerPostStepEvent(timeStep);
+
+                // In case there were any parameter updates that happened during the simulation step
+                numTaints += ProcessTaints();
 
-            // Make the physics engine dump useful statistics periodically
-            if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0))
-                PE.DumpPhysicsStatistics(World);
+                InSimulationTime = false;
+            }
 
             // Get a value for 'now' so all the collision and update routines don't have to get their own.
             SimulationNowTime = Util.EnvironmentTickCount();
@@ -743,9 +758,6 @@ namespace OpenSim.Region.PhysicsModule.BulletS
                 }
             }
 
-            // Some actors want to know when the simulation step is complete.
-            TriggerPostStepEvent(timeStep);
-
             simTime = Util.EnvironmentTickCountSubtract(beforeTime);
             if (PhysicsLogging.Enabled)
             {
@@ -762,7 +774,8 @@ namespace OpenSim.Region.PhysicsModule.BulletS
             // The physics engine returns the number of milliseconds it simulated this call.
             // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
             // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55).
-            m_simulatedTime +=  (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
+//            m_simulatedTime +=  (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
+            m_simulatedTime +=  (float)numSubSteps * m_fixedTimeStep;
         }
 
         // Called by a BSPhysObject to note that it has changed properties and this information
@@ -849,7 +862,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
 
             // Return the framerate simulated to give the above returned results.
             // (Race condition here but this is just bookkeeping so rare mistakes do not merit a lock).
-            float simTime = m_simulatedTime;
+            float simTime = m_simulatedTime / timeStep;
             m_simulatedTime = 0f;
             return simTime;
         }
@@ -879,7 +892,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
 
             if (collider.IsInitialized)
             {
-                if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
+                if (collider.Collide(collidee, collidePoint, collideNormal, penetration))
                 {
                     // If a collision was 'good', remember to send it to the simulator
                     lock (CollisionLock)
@@ -948,26 +961,150 @@ namespace OpenSim.Region.PhysicsModule.BulletS
             // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
         }
 
-        // Although no one seems to check this, I do support combining.
-        public override bool SupportsCombining()
+        #endregion // Terrain
+
+        #region Raycast
+
+        public override bool SupportsRayCast()
         {
-            return TerrainManager.SupportsCombining();
+            return BSParam.UseBulletRaycast;
         }
-        // This call says I am a child to region zero in a mega-region. 'pScene' is that
-        //    of region zero, 'offset' is my offset from regions zero's origin, and
-        //    'extents' is the largest XY that is handled in my region.
-        public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
+
+        public override bool SupportsRaycastWorldFiltered()
         {
-            TerrainManager.Combine(pScene, offset, extents);
+            return BSParam.UseBulletRaycast;
         }
 
-        // Unhook all the combining that I know about.
-        public override 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.
+        ///      public delegate void RayCallback(List<ContactResult> list);
+        ///
+        /// 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 override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
         {
-            TerrainManager.UnCombine(pScene);
+            if (retMethod != null)
+            {
+                if (BSParam.UseBulletRaycast)
+                {
+                    Vector3 posFrom = position;
+                    Vector3 posTo = Vector3.Normalize(direction) * length + position;
+
+                    TaintedObject(DetailLogZero, "BSScene.RaycastWorld1", delegate ()
+                    {
+                        RaycastHit hitInfo = PE.RayTest2(World, posFrom, posTo, 0xffff, 0xffff);
+                        retMethod(true, hitInfo.Point, hitInfo.ID, hitInfo.Fraction, hitInfo.Normal);
+                    });
+                }
+                else
+                {
+                    retMethod(false, Vector3.Zero, 0, 999999999999f, Vector3.Zero);
+                }
+            }
         }
 
-        #endregion // Terrain
+        public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
+        {
+            if (retMethod != null)
+            {
+                if (BSParam.UseBulletRaycast)
+                {
+                    List<ContactResult> hitInfo = RaycastWorld(position, direction, length, count);
+                    retMethod(hitInfo);
+                }
+                else
+                {
+                    retMethod(new List<ContactResult>());
+                }
+            }
+        }
+
+        public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int count)
+        {
+            return (List<ContactResult>)RaycastWorld(position, direction, length, count, RayFilterFlags.All);
+        }
+
+        public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int count, RayFilterFlags filter)
+        {
+            List<ContactResult> ret = new List<ContactResult>();
+            if (BSParam.UseBulletRaycast)
+            {
+                uint collisionFilter = 0;
+                uint collisionMask = 0;
+                if ((filter & RayFilterFlags.land) != 0)
+                {
+                    collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Terrain].group;
+                    collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Terrain].mask;
+                }
+                if ((filter & RayFilterFlags.agent) != 0)
+                {
+                    collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Avatar].group;
+                    collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Avatar].mask;
+                }
+                if ((filter & RayFilterFlags.nonphysical) != 0)
+                {
+                    collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Static].group;
+                    collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Static].mask;
+                }
+                if ((filter & RayFilterFlags.physical) != 0)
+                {
+                    collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Dynamic].group;
+                    collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Dynamic].mask;
+                }
+                // if ((filter & RayFilterFlags.phantom) != 0)
+                // {
+                //     collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].group;
+                //     collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].mask;
+                // }
+                if ((filter & RayFilterFlags.volumedtc) != 0)
+                {
+                    collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].group;
+                    collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].mask;
+                }
+                DetailLog("{0},RaycastWorld,pos={1},dir={2},len={3},count={4},filter={5},filter={6},mask={7}",
+                        DetailLogZero, position, direction, length, count, filter, collisionFilter, collisionMask);
+                // NOTE: locking ensures the physics engine is not executing.
+                //    The caller might have to wait for the physics engine to finish.
+                lock (PhysicsEngineLock)
+                {
+                    Vector3 posFrom = position;
+                    Vector3 posTo = Vector3.Normalize(direction) * length + position;
+                    DetailLog("{0},RaycastWorld,RayTest2,from={1},to={2}",
+                                DetailLogZero, posFrom, posTo);
+                    RaycastHit hitInfo = PE.RayTest2(World, posFrom, posTo, collisionFilter, collisionMask);
+                    if (hitInfo.hasHit())
+                    {
+                        ContactResult result = new ContactResult();
+                        result.Pos = hitInfo.Point;
+                        result.Normal = hitInfo.Normal;
+                        result.ConsumerID = hitInfo.ID;
+                        result.Depth = hitInfo.Fraction;
+                        ret.Add(result);
+                        DetailLog("{0},RaycastWorld,hit,pos={1},norm={2},depth={3},id={4}",
+                            DetailLogZero, result.Pos, result.Normal, result.Depth, result.ConsumerID);
+                    }
+                }
+            }
+            return ret;
+        }
+
+        #endregion Raycast
+
 
         public override Dictionary<uint, float> GetTopColliders()
         {
@@ -1081,32 +1218,35 @@ namespace OpenSim.Region.PhysicsModule.BulletS
         // Calls to the PhysicsActors can't directly call into the physics engine
         //       because it might be busy. We delay changes to a known time.
         // We rely on C#'s closure to save and restore the context for the delegate.
-        public void TaintedObject(string pOriginator, string pIdent, TaintCallback pCallback)
+        // NOTE: 'inTaintTime' is no longer used. This entry exists so all the calls don't have to be changed.
+        // public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback)
+        // {
+        //     TaintedObject(BSScene.DetailLogZero, pIdent, pCallback);
+        // }
+        // NOTE: 'inTaintTime' is no longer used. This entry exists so all the calls don't have to be changed.
+        public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback)
         {
-            TaintedObject(false /*inTaintTime*/, pOriginator, pIdent, pCallback);
+            TaintedObject(m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
         }
         public void TaintedObject(uint pOriginator, String pIdent, TaintCallback pCallback)
         {
-            TaintedObject(false /*inTaintTime*/, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
-        }
-        public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback)
-        {
-            TaintedObject(inTaintTime, BSScene.DetailLogZero, pIdent, pCallback);
-        }
-        public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback)
-        {
-            TaintedObject(inTaintTime, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
+            TaintedObject(m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
         }
         // Sometimes a potentially tainted operation can be used in and out of taint time.
         // This routine executes the command immediately if in taint-time otherwise it is queued.
-        public void TaintedObject(bool inTaintTime, string pOriginator, string pIdent, TaintCallback pCallback)
+        public void TaintedObject(string pOriginator, string pIdent, TaintCallback pCallback)
         {
             if (!m_initialized) return;
 
-            if (inTaintTime)
+            if (Monitor.TryEnter(PhysicsEngineLock))
+            {
+                // If we can get exclusive access to the physics engine, just do the operation
                 pCallback();
+                Monitor.Exit(PhysicsEngineLock);
+            }
             else
             {
+                // The physics engine is busy, queue the operation
                 lock (_taintLock)
                 {
                     _taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback));
@@ -1133,14 +1273,21 @@ namespace OpenSim.Region.PhysicsModule.BulletS
         // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
         // a callback into itself to do the actual property change. That callback is called
         // here just before the physics engine is called to step the simulation.
-        public void ProcessTaints()
+        // Returns the number of taints processed
+        // NOTE: Called while PhysicsEngineLock is locked
+        public int ProcessTaints()
         {
-            ProcessRegularTaints();
-            ProcessPostTaintTaints();
+            int ret = 0;
+            ret += ProcessRegularTaints();
+            ret += ProcessPostTaintTaints();
+            return ret;
         }
 
-        private void ProcessRegularTaints()
+        // Returns the number of taints processed
+        // NOTE: Called while PhysicsEngineLock is locked
+        private int ProcessRegularTaints()
         {
+            int ret = 0;
             if (m_initialized && _taintOperations.Count > 0)  // save allocating new list if there is nothing to process
             {
                 // swizzle a new list into the list location so we can process what's there
@@ -1157,6 +1304,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
                     {
                         DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", tcbe.originator, tcbe.ident); // DEBUG DEBUG DEBUG
                         tcbe.callback();
+                        ret++;
                     }
                     catch (Exception e)
                     {
@@ -1165,6 +1313,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
                 }
                 oldList.Clear();
             }
+            return ret;
         }
 
         // Schedule an update to happen after all the regular taints are processed.
@@ -1183,8 +1332,11 @@ namespace OpenSim.Region.PhysicsModule.BulletS
         }
 
         // Taints that happen after the normal taint processing but before the simulation step.
-        private void ProcessPostTaintTaints()
+        // Returns the number of taints processed
+        // NOTE: Called while PhysicsEngineLock is locked
+        private int ProcessPostTaintTaints()
         {
+            int ret = 0;
             if (m_initialized && _postTaintOperations.Count > 0)
             {
                 Dictionary<string, TaintCallbackEntry> oldList;
@@ -1200,6 +1352,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
                     {
                         DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
                         kvp.Value.callback();
+                        ret++;
                     }
                     catch (Exception e)
                     {
@@ -1208,20 +1361,8 @@ namespace OpenSim.Region.PhysicsModule.BulletS
                 }
                 oldList.Clear();
             }
+            return ret;
         }
-
-        // Only used for debugging. Does not change state of anything so locking is not necessary.
-        public bool AssertInTaintTime(string whereFrom)
-        {
-            if (!InTaintTime)
-            {
-                DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
-                m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
-                // Util.PrintCallStack(DetailLog);
-            }
-            return InTaintTime;
-        }
-
         #endregion // Taints
 
         #region IPhysicsParameters