1 files changed, 218 insertions, 93 deletions

diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
index c04ff58..2fa98b5 100644
--- a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
+++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
@@ -43,7 +43,8 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
         Unknown = 0,
         Agent = 1,
         Prim = 2,
-        Ground = 3
+        Ground = 3,
+        Water = 4
     }
 
     public enum PIDHoverType
@@ -54,20 +55,54 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
         Absolute
     }
 
+    public struct CameraData
+    {
+        public Quaternion CameraRotation;
+        public Vector3 CameraAtAxis;
+        public bool MouseLook;
+        public bool Valid;
+    }
+
     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>
@@ -100,8 +135,19 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
             }
             else
             {
+                float lastVel = m_objCollisionList[localID].RelativeSpeed;
                 if (m_objCollisionList[localID].PenetrationDepth < contact.PenetrationDepth)
+                {
+                    if(Math.Abs(lastVel) > Math.Abs(contact.RelativeSpeed))
+                        contact.RelativeSpeed = lastVel;
                     m_objCollisionList[localID] = contact;
+                }
+                else if(Math.Abs(lastVel) < Math.Abs(contact.RelativeSpeed))
+                {
+                    ContactPoint tmp = m_objCollisionList[localID];
+                    tmp.RelativeSpeed = contact.RelativeSpeed;
+                    m_objCollisionList[localID] = tmp;
+                }
             }
         }
 
@@ -121,13 +167,15 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
         public delegate void RequestTerseUpdate();
         public delegate void CollisionUpdate(EventArgs e);
         public delegate void OutOfBounds(Vector3 pos);
+        public delegate CameraData GetCameraData();
 
-// disable warning: public events
+        // disable warning: public events
 #pragma warning disable 67
         public event PositionUpdate OnPositionUpdate;
         public event VelocityUpdate OnVelocityUpdate;
         public event OrientationUpdate OnOrientationUpdate;
         public event RequestTerseUpdate OnRequestTerseUpdate;
+        public event GetCameraData OnPhysicsRequestingCameraData;
 
         /// <summary>
         /// Subscribers to this event must synchronously handle the dictionary of collisions received, since the event
@@ -138,15 +186,47 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
         public event OutOfBounds OnOutOfBounds;
 #pragma warning restore 67
 
+        public CameraData TryGetCameraData()
+        {
+            GetCameraData handler = OnPhysicsRequestingCameraData;
+            if (handler != null)
+            {
+                return handler();
+            }
+
+            return new CameraData { Valid = false };
+        }
+
         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; }
@@ -169,20 +249,21 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
         /// 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; protected set; }
+        public string Name { get; set; }
 
         /// <summary>
         /// This is being used by ODE joint code.
         /// </summary>
         public string SOPName;
 
+        public virtual void CrossingStart() { }
         public abstract void CrossingFailure();
 
         public abstract void link(PhysicsActor obj);
 
         public abstract void delink();
 
-        public abstract void LockAngularMotion(Vector3 axis);
+        public abstract void LockAngularMotion(byte axislocks);
 
         public virtual void RequestPhysicsterseUpdate()
         {
@@ -245,6 +326,56 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
         public abstract void VehicleRotationParam(int param, Quaternion rotation);
         public abstract void VehicleFlags(int param, bool remove);
 
+        // This is an overridable version of SetVehicle() that works for all physics engines.
+        // This is VERY inefficient. It behoves any physics engine to override this and
+        //     implement a more efficient setting of all the vehicle parameters.
+        public virtual void SetVehicle(object pvdata)
+        {
+            VehicleData vdata = (VehicleData)pvdata;
+            // vehicleActor.ProcessSetVehicle((VehicleData)vdata);
+
+            this.VehicleType = (int)vdata.m_type;
+            this.VehicleFlags(-1, false);   // clears all flags
+            this.VehicleFlags((int)vdata.m_flags, false);
+
+            // Linear properties
+            this.VehicleVectorParam((int)Vehicle.LINEAR_MOTOR_DIRECTION, vdata.m_linearMotorDirection);
+            this.VehicleVectorParam((int)Vehicle.LINEAR_FRICTION_TIMESCALE, vdata.m_linearFrictionTimescale);
+            this.VehicleFloatParam((int)Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE, vdata.m_linearMotorDecayTimescale);
+            this.VehicleFloatParam((int)Vehicle.LINEAR_MOTOR_TIMESCALE, vdata.m_linearMotorTimescale);
+            this.VehicleVectorParam((int)Vehicle.LINEAR_MOTOR_OFFSET, vdata.m_linearMotorOffset);
+
+            //Angular properties
+            this.VehicleVectorParam((int)Vehicle.ANGULAR_MOTOR_DIRECTION, vdata.m_angularMotorDirection);
+            this.VehicleFloatParam((int)Vehicle.ANGULAR_MOTOR_TIMESCALE, vdata.m_angularMotorTimescale);
+            this.VehicleFloatParam((int)Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE, vdata.m_angularMotorDecayTimescale);
+            this.VehicleVectorParam((int)Vehicle.ANGULAR_FRICTION_TIMESCALE, vdata.m_angularFrictionTimescale);
+
+            //Deflection properties
+            this.VehicleFloatParam((int)Vehicle.ANGULAR_DEFLECTION_EFFICIENCY, vdata.m_angularDeflectionEfficiency);
+            this.VehicleFloatParam((int)Vehicle.ANGULAR_DEFLECTION_TIMESCALE, vdata.m_angularDeflectionTimescale);
+            this.VehicleFloatParam((int)Vehicle.LINEAR_DEFLECTION_EFFICIENCY, vdata.m_linearDeflectionEfficiency);
+            this.VehicleFloatParam((int)Vehicle.LINEAR_DEFLECTION_TIMESCALE, vdata.m_linearDeflectionTimescale);
+
+            //Banking properties
+            this.VehicleFloatParam((int)Vehicle.BANKING_EFFICIENCY, vdata.m_bankingEfficiency);
+            this.VehicleFloatParam((int)Vehicle.BANKING_MIX, vdata.m_bankingMix);
+            this.VehicleFloatParam((int)Vehicle.BANKING_TIMESCALE, vdata.m_bankingTimescale);
+
+            //Hover and Buoyancy properties
+            this.VehicleFloatParam((int)Vehicle.HOVER_HEIGHT, vdata.m_VhoverHeight);
+            this.VehicleFloatParam((int)Vehicle.HOVER_EFFICIENCY, vdata.m_VhoverEfficiency);
+            this.VehicleFloatParam((int)Vehicle.HOVER_TIMESCALE, vdata.m_VhoverTimescale);
+            this.VehicleFloatParam((int)Vehicle.BUOYANCY, vdata.m_VehicleBuoyancy);
+
+            //Attractor properties
+            this.VehicleFloatParam((int)Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, vdata.m_verticalAttractionEfficiency);
+            this.VehicleFloatParam((int)Vehicle.VERTICAL_ATTRACTION_TIMESCALE, vdata.m_verticalAttractionTimescale);
+
+            this.VehicleRotationParam((int)Vehicle.REFERENCE_FRAME, vdata.m_referenceFrame);
+        }
+
+
         /// <summary>
         /// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
         /// </summary>
@@ -253,6 +384,22 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
         public abstract Vector3 GeometricCenter { get; }
         public abstract Vector3 CenterOfMass { get; }
 
+        public virtual float PhysicsCost
+        {
+            get
+            {
+                return 0.1f;
+            }
+        }
+
+        public virtual float StreamCost
+        {
+            get
+            {
+                return 1.0f;
+            }
+        }
+
         /// <summary>
         /// The desired velocity of this actor.
         /// </summary>
@@ -271,6 +418,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
         }
 
         public abstract Vector3 Velocity { get; set; }
+        public virtual Vector3 rootVelocity { get { return Vector3.Zero; } }
 
         public abstract Vector3 Torque { get; set; }
         public abstract float CollisionScore { get; set;}
@@ -296,7 +444,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
 
         // Used for llSetHoverHeight and maybe vehicle height
         // Hover Height will override MoveTo target's Z
-        public abstract bool PIDHoverActive { set;}
+        public abstract bool PIDHoverActive {get; set;}
         public abstract float PIDHoverHeight { set;}
         public abstract PIDHoverType PIDHoverType { set;}
         public abstract float PIDHoverTau { set;}
@@ -306,7 +454,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
         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);
@@ -314,6 +462,29 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
         public abstract void UnSubscribeEvents();
         public abstract bool SubscribedEvents();
 
+        public virtual void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { }
+        public virtual void AddVDTCCollisionEvent(uint CollidedWith, ContactPoint contact) { }
+
+        public virtual PhysicsInertiaData GetInertiaData()
+        {
+            PhysicsInertiaData data = new PhysicsInertiaData();
+            data.TotalMass = this.Mass;
+            data.CenterOfMass = CenterOfMass - Position;
+            data.Inertia = Vector3.Zero;
+            data.InertiaRotation = Vector4.Zero;
+            return data;
+        }
+
+        public virtual void SetInertiaData(PhysicsInertiaData inertia)
+        {
+        }
+
+        public virtual float SimulationSuspended { get; set; }
+
+        // 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)
         {
@@ -324,9 +495,11 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
 
     public class NullPhysicsActor : PhysicsActor
     {
+        private ActorTypes m_actorType = ActorTypes.Unknown;
+
         public override bool Stopped
         {
-            get{ return false; }
+            get{ return true; }
         }
 
         public override Vector3 Position
@@ -343,6 +516,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
 
         public override uint LocalID
         {
+            get { return 0; }
             set { return; }
         }
 
@@ -402,50 +576,17 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
             set { return; }
         }
 
-        public override void VehicleFloatParam(int param, float value)
-        {
+        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 void VehicleVectorParam(int param, Vector3 value)
-        {
+        public override Vector3 GeometricCenter { get { return Vector3.Zero; }}
 
-        }
-
-        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 PrimitiveBaseShape Shape { set { return; }}
 
         public override Vector3 Velocity
         {
@@ -465,9 +606,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
             set { }
         }
 
-        public override void CrossingFailure()
-        {
-        }
+        public override void CrossingFailure() {}
 
         public override Quaternion Orientation
         {
@@ -507,8 +646,20 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
 
         public override int PhysicsActorType
         {
-            get { return (int) ActorTypes.Unknown; }
-            set { return; }
+            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
@@ -517,26 +668,11 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
             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 void link(PhysicsActor obj) { }
+        public override void delink() { }
+        public override void LockAngularMotion(byte axislocks) { }
+        public override void AddForce(Vector3 force, bool pushforce) { }
+        public override void AddAngularForce(Vector3 force, bool pushforce) { }
 
         public override Vector3 RotationalVelocity
         {
@@ -546,39 +682,28 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
 
         public override Vector3 PIDTarget { set { return; } }
 
-        public override bool PIDActive 
+        public override bool PIDActive
         {
             get { return false; }
-            set { return; } 
+            set { return; }
         }
 
         public override float PIDTau { set { return; } }
 
         public override float PIDHoverHeight { set { return; } }
-        public override bool PIDHoverActive { set { return; } }
+        public override bool PIDHoverActive {get {return false;} 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 void SetMomentum(Vector3 momentum) { }
 
-        }
-        public override bool SubscribedEvents()
-        {
-            return false;
-        }
+        public override void SubscribeEvents(int ms) { }
+        public override void UnSubscribeEvents() { }
+        public override bool SubscribedEvents() { return false; }
     }
 }