aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/Manager/PhysicsActor.cs
blob: 14f65b8e1478efbb311c476cdde613941450662b (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
/*
 * 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.Physics.Manager
{
    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 ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth)
        {
            Position = position;
            SurfaceNormal = surfaceNormal;
            PenetrationDepth = penetrationDepth;
            RelativeSpeed = 0f; // for now let this one be set explicity
        }
    }

    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 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 Bounce { 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>
        /// Velocity of this actor.
        /// </summary>
        /// <remarks>
        /// Setting this provides a target velocity for physics scene updates.
        /// Getting this returns the velocity calculated by physics scene updates, using factors such as target velocity,
        /// time to accelerate and collisions.
        /// </remarks>
        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 { 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; } }
        
    }

    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 { 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; }
    }
}