clockwerk-opensim – Blame information for rev 1
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1 | vero | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ |
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3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
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4 | * |
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5 | * Redistribution and use in source and binary forms, with or without |
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6 | * modification, are permitted provided that the following conditions are met: |
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7 | * * Redistributions of source code must retain the above copyright |
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8 | * notice, this list of conditions and the following disclaimer. |
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9 | * * Redistributions in binary form must reproduce the above copyright |
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10 | * notice, this list of conditions and the following disclaimer in the |
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11 | * documentation and/or other materials provided with the distribution. |
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12 | * * Neither the name of the OpenSimulator Project nor the |
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13 | * names of its contributors may be used to endorse or promote products |
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14 | * derived from this software without specific prior written permission. |
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15 | * |
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16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
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17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
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20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
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21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
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23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
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25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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26 | */ |
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27 | |||
28 | using log4net; |
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29 | using System; |
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30 | using System.Collections.Generic; |
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31 | using System.Reflection; |
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32 | using OpenSim.Framework; |
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33 | using OpenMetaverse; |
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34 | |||
35 | namespace OpenSim.Region.Physics.Manager |
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36 | { |
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37 | public delegate void PositionUpdate(Vector3 position); |
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38 | public delegate void VelocityUpdate(Vector3 velocity); |
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39 | public delegate void OrientationUpdate(Quaternion orientation); |
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40 | |||
41 | public enum ActorTypes : int |
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42 | { |
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43 | Unknown = 0, |
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44 | Agent = 1, |
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45 | Prim = 2, |
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46 | Ground = 3 |
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47 | } |
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48 | |||
49 | public enum PIDHoverType |
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50 | { |
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51 | Ground, |
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52 | GroundAndWater, |
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53 | Water, |
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54 | Absolute |
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55 | } |
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56 | |||
57 | public struct ContactPoint |
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58 | { |
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59 | public Vector3 Position; |
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60 | public Vector3 SurfaceNormal; |
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61 | public float PenetrationDepth; |
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62 | |||
63 | public ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth) |
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64 | { |
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65 | Position = position; |
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66 | SurfaceNormal = surfaceNormal; |
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67 | PenetrationDepth = penetrationDepth; |
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68 | } |
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69 | } |
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70 | |||
71 | /// <summary> |
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72 | /// Used to pass collision information to OnCollisionUpdate listeners. |
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73 | /// </summary> |
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74 | public class CollisionEventUpdate : EventArgs |
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75 | { |
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76 | /// <summary> |
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77 | /// Number of collision events in this update. |
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78 | /// </summary> |
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79 | public int Count { get { return m_objCollisionList.Count; } } |
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80 | |||
81 | public bool CollisionsOnPreviousFrame { get; private set; } |
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82 | |||
83 | public Dictionary<uint, ContactPoint> m_objCollisionList; |
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84 | |||
85 | public CollisionEventUpdate(Dictionary<uint, ContactPoint> objCollisionList) |
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86 | { |
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87 | m_objCollisionList = objCollisionList; |
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88 | } |
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89 | |||
90 | public CollisionEventUpdate() |
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91 | { |
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92 | m_objCollisionList = new Dictionary<uint, ContactPoint>(); |
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93 | } |
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94 | |||
95 | public void AddCollider(uint localID, ContactPoint contact) |
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96 | { |
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97 | if (!m_objCollisionList.ContainsKey(localID)) |
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98 | { |
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99 | m_objCollisionList.Add(localID, contact); |
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100 | } |
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101 | else |
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102 | { |
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103 | if (m_objCollisionList[localID].PenetrationDepth < contact.PenetrationDepth) |
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104 | m_objCollisionList[localID] = contact; |
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105 | } |
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106 | } |
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107 | |||
108 | /// <summary> |
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109 | /// Clear added collision events. |
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110 | /// </summary> |
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111 | public void Clear() |
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112 | { |
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113 | m_objCollisionList.Clear(); |
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114 | } |
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115 | } |
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116 | |||
117 | public abstract class PhysicsActor |
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118 | { |
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119 | // private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); |
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120 | |||
121 | public delegate void RequestTerseUpdate(); |
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122 | public delegate void CollisionUpdate(EventArgs e); |
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123 | public delegate void OutOfBounds(Vector3 pos); |
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124 | |||
125 | // disable warning: public events |
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126 | #pragma warning disable 67 |
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127 | public event PositionUpdate OnPositionUpdate; |
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128 | public event VelocityUpdate OnVelocityUpdate; |
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129 | public event OrientationUpdate OnOrientationUpdate; |
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130 | public event RequestTerseUpdate OnRequestTerseUpdate; |
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131 | |||
132 | /// <summary> |
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133 | /// Subscribers to this event must synchronously handle the dictionary of collisions received, since the event |
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134 | /// object is reused in subsequent physics frames. |
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135 | /// </summary> |
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136 | public event CollisionUpdate OnCollisionUpdate; |
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137 | |||
138 | public event OutOfBounds OnOutOfBounds; |
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139 | #pragma warning restore 67 |
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140 | |||
141 | public static PhysicsActor Null |
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142 | { |
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143 | get { return new NullPhysicsActor(); } |
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144 | } |
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145 | |||
146 | public abstract bool Stopped { get; } |
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147 | |||
148 | public abstract Vector3 Size { get; set; } |
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149 | |||
150 | public virtual byte PhysicsShapeType { get; set; } |
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151 | |||
152 | public abstract PrimitiveBaseShape Shape { set; } |
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153 | |||
154 | uint m_baseLocalID; |
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155 | public virtual uint LocalID |
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156 | { |
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157 | set { m_baseLocalID = value; } |
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158 | get { return m_baseLocalID; } |
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159 | } |
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160 | |||
161 | public abstract bool Grabbed { set; } |
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162 | |||
163 | public abstract bool Selected { set; } |
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164 | |||
165 | /// <summary> |
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166 | /// Name of this actor. |
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167 | /// </summary> |
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168 | /// <remarks> |
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169 | /// XXX: Bizarrely, this cannot be "Terrain" or "Water" right now unless it really is simulating terrain or |
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170 | /// water. This is not a problem due to the formatting of names given by prims and avatars. |
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171 | /// </remarks> |
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172 | public string Name { get; protected set; } |
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173 | |||
174 | /// <summary> |
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175 | /// This is being used by ODE joint code. |
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176 | /// </summary> |
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177 | public string SOPName; |
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178 | |||
179 | public abstract void CrossingFailure(); |
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180 | |||
181 | public abstract void link(PhysicsActor obj); |
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182 | |||
183 | public abstract void delink(); |
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184 | |||
185 | public abstract void LockAngularMotion(Vector3 axis); |
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186 | |||
187 | public virtual void RequestPhysicsterseUpdate() |
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188 | { |
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189 | // Make a temporary copy of the event to avoid possibility of |
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190 | // a race condition if the last subscriber unsubscribes |
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191 | // immediately after the null check and before the event is raised. |
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192 | RequestTerseUpdate handler = OnRequestTerseUpdate; |
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193 | |||
194 | if (handler != null) |
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195 | { |
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196 | handler(); |
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197 | } |
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198 | } |
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199 | |||
200 | public virtual void RaiseOutOfBounds(Vector3 pos) |
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201 | { |
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202 | // Make a temporary copy of the event to avoid possibility of |
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203 | // a race condition if the last subscriber unsubscribes |
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204 | // immediately after the null check and before the event is raised. |
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205 | OutOfBounds handler = OnOutOfBounds; |
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206 | |||
207 | if (handler != null) |
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208 | { |
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209 | handler(pos); |
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210 | } |
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211 | } |
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212 | |||
213 | public virtual void SendCollisionUpdate(EventArgs e) |
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214 | { |
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215 | CollisionUpdate handler = OnCollisionUpdate; |
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216 | |||
217 | // m_log.DebugFormat("[PHYSICS ACTOR]: Sending collision for {0}", LocalID); |
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218 | |||
219 | if (handler != null) |
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220 | handler(e); |
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221 | } |
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222 | |||
223 | public virtual void SetMaterial (int material) { } |
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224 | public virtual float Density { get; set; } |
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225 | public virtual float GravModifier { get; set; } |
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226 | public virtual float Friction { get; set; } |
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227 | public virtual float Restitution { get; set; } |
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228 | |||
229 | /// <summary> |
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230 | /// Position of this actor. |
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231 | /// </summary> |
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232 | /// <remarks> |
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233 | /// Setting this directly moves the actor to a given position. |
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234 | /// Getting this retrieves the position calculated by physics scene updates, using factors such as velocity and |
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235 | /// collisions. |
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236 | /// </remarks> |
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237 | public abstract Vector3 Position { get; set; } |
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238 | |||
239 | public abstract float Mass { get; } |
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240 | public abstract Vector3 Force { get; set; } |
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241 | |||
242 | public abstract int VehicleType { get; set; } |
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243 | public abstract void VehicleFloatParam(int param, float value); |
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244 | public abstract void VehicleVectorParam(int param, Vector3 value); |
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245 | public abstract void VehicleRotationParam(int param, Quaternion rotation); |
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246 | public abstract void VehicleFlags(int param, bool remove); |
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247 | |||
248 | /// <summary> |
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249 | /// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more |
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250 | /// </summary> |
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251 | public abstract void SetVolumeDetect(int param); |
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252 | |||
253 | public abstract Vector3 GeometricCenter { get; } |
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254 | public abstract Vector3 CenterOfMass { get; } |
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255 | |||
256 | /// <summary> |
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257 | /// The desired velocity of this actor. |
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258 | /// </summary> |
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259 | /// <remarks> |
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260 | /// Setting this provides a target velocity for physics scene updates. |
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261 | /// Getting this returns the last set target. Fetch Velocity to get the current velocity. |
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262 | /// </remarks> |
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263 | protected Vector3 m_targetVelocity; |
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264 | public virtual Vector3 TargetVelocity |
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265 | { |
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266 | get { return m_targetVelocity; } |
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267 | set { |
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268 | m_targetVelocity = value; |
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269 | Velocity = m_targetVelocity; |
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270 | } |
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271 | } |
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272 | |||
273 | public abstract Vector3 Velocity { get; set; } |
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274 | |||
275 | public abstract Vector3 Torque { get; set; } |
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276 | public abstract float CollisionScore { get; set;} |
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277 | public abstract Vector3 Acceleration { get; set; } |
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278 | public abstract Quaternion Orientation { get; set; } |
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279 | public abstract int PhysicsActorType { get; set; } |
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280 | public abstract bool IsPhysical { get; set; } |
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281 | public abstract bool Flying { get; set; } |
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282 | public abstract bool SetAlwaysRun { get; set; } |
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283 | public abstract bool ThrottleUpdates { get; set; } |
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284 | public abstract bool IsColliding { get; set; } |
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285 | public abstract bool CollidingGround { get; set; } |
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286 | public abstract bool CollidingObj { get; set; } |
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287 | public abstract bool FloatOnWater { set; } |
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288 | public abstract Vector3 RotationalVelocity { get; set; } |
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289 | public abstract bool Kinematic { get; set; } |
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290 | public abstract float Buoyancy { get; set; } |
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291 | |||
292 | // Used for MoveTo |
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293 | public abstract Vector3 PIDTarget { set; } |
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294 | public abstract bool PIDActive { set;} |
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295 | public abstract float PIDTau { set; } |
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296 | |||
297 | // Used for llSetHoverHeight and maybe vehicle height |
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298 | // Hover Height will override MoveTo target's Z |
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299 | public abstract bool PIDHoverActive { set;} |
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300 | public abstract float PIDHoverHeight { set;} |
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301 | public abstract PIDHoverType PIDHoverType { set;} |
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302 | public abstract float PIDHoverTau { set;} |
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303 | |||
304 | // For RotLookAt |
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305 | public abstract Quaternion APIDTarget { set;} |
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306 | public abstract bool APIDActive { set;} |
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307 | public abstract float APIDStrength { set;} |
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308 | public abstract float APIDDamping { set;} |
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309 | |||
310 | public abstract void AddForce(Vector3 force, bool pushforce); |
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311 | public abstract void AddAngularForce(Vector3 force, bool pushforce); |
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312 | public abstract void SetMomentum(Vector3 momentum); |
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313 | public abstract void SubscribeEvents(int ms); |
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314 | public abstract void UnSubscribeEvents(); |
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315 | public abstract bool SubscribedEvents(); |
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316 | |||
317 | // Extendable interface for new, physics engine specific operations |
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318 | public virtual object Extension(string pFunct, params object[] pParams) |
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319 | { |
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320 | // A NOP of the physics engine does not implement this feature |
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321 | return null; |
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322 | } |
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323 | } |
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324 | |||
325 | public class NullPhysicsActor : PhysicsActor |
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326 | { |
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327 | public override bool Stopped |
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328 | { |
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329 | get{ return false; } |
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330 | } |
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331 | |||
332 | public override Vector3 Position |
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333 | { |
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334 | get { return Vector3.Zero; } |
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335 | set { return; } |
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336 | } |
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337 | |||
338 | public override bool SetAlwaysRun |
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339 | { |
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340 | get { return false; } |
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341 | set { return; } |
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342 | } |
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343 | |||
344 | public override uint LocalID |
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345 | { |
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346 | set { return; } |
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347 | } |
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348 | |||
349 | public override bool Grabbed |
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350 | { |
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351 | set { return; } |
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352 | } |
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353 | |||
354 | public override bool Selected |
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355 | { |
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356 | set { return; } |
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357 | } |
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358 | |||
359 | public override float Buoyancy |
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360 | { |
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361 | get { return 0f; } |
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362 | set { return; } |
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363 | } |
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364 | |||
365 | public override bool FloatOnWater |
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366 | { |
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367 | set { return; } |
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368 | } |
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369 | |||
370 | public override bool CollidingGround |
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371 | { |
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372 | get { return false; } |
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373 | set { return; } |
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374 | } |
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375 | |||
376 | public override bool CollidingObj |
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377 | { |
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378 | get { return false; } |
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379 | set { return; } |
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380 | } |
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381 | |||
382 | public override Vector3 Size |
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383 | { |
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384 | get { return Vector3.Zero; } |
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385 | set { return; } |
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386 | } |
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387 | |||
388 | public override float Mass |
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389 | { |
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390 | get { return 0f; } |
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391 | } |
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392 | |||
393 | public override Vector3 Force |
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394 | { |
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395 | get { return Vector3.Zero; } |
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396 | set { return; } |
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397 | } |
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398 | |||
399 | public override int VehicleType |
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400 | { |
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401 | get { return 0; } |
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402 | set { return; } |
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403 | } |
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404 | |||
405 | public override void VehicleFloatParam(int param, float value) |
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406 | { |
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407 | |||
408 | } |
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409 | |||
410 | public override void VehicleVectorParam(int param, Vector3 value) |
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411 | { |
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412 | |||
413 | } |
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414 | |||
415 | public override void VehicleRotationParam(int param, Quaternion rotation) |
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416 | { |
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417 | |||
418 | } |
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419 | |||
420 | public override void VehicleFlags(int param, bool remove) |
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421 | { |
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422 | |||
423 | } |
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424 | |||
425 | public override void SetVolumeDetect(int param) |
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426 | { |
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427 | |||
428 | } |
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429 | |||
430 | public override void SetMaterial(int material) |
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431 | { |
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432 | |||
433 | } |
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434 | |||
435 | public override Vector3 CenterOfMass |
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436 | { |
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437 | get { return Vector3.Zero; } |
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438 | } |
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439 | |||
440 | public override Vector3 GeometricCenter |
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441 | { |
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442 | get { return Vector3.Zero; } |
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443 | } |
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444 | |||
445 | public override PrimitiveBaseShape Shape |
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446 | { |
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447 | set { return; } |
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448 | } |
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449 | |||
450 | public override Vector3 Velocity |
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451 | { |
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452 | get { return Vector3.Zero; } |
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453 | set { return; } |
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454 | } |
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455 | |||
456 | public override Vector3 Torque |
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457 | { |
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458 | get { return Vector3.Zero; } |
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459 | set { return; } |
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460 | } |
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461 | |||
462 | public override float CollisionScore |
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463 | { |
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464 | get { return 0f; } |
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465 | set { } |
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466 | } |
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467 | |||
468 | public override void CrossingFailure() |
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469 | { |
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470 | } |
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471 | |||
472 | public override Quaternion Orientation |
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473 | { |
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474 | get { return Quaternion.Identity; } |
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475 | set { } |
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476 | } |
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477 | |||
478 | public override Vector3 Acceleration |
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479 | { |
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480 | get { return Vector3.Zero; } |
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481 | set { } |
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482 | } |
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483 | |||
484 | public override bool IsPhysical |
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485 | { |
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486 | get { return false; } |
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487 | set { return; } |
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488 | } |
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489 | |||
490 | public override bool Flying |
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491 | { |
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492 | get { return false; } |
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493 | set { return; } |
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494 | } |
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495 | |||
496 | public override bool ThrottleUpdates |
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497 | { |
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498 | get { return false; } |
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499 | set { return; } |
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500 | } |
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501 | |||
502 | public override bool IsColliding |
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503 | { |
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504 | get { return false; } |
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505 | set { return; } |
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506 | } |
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507 | |||
508 | public override int PhysicsActorType |
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509 | { |
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510 | get { return (int) ActorTypes.Unknown; } |
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511 | set { return; } |
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512 | } |
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513 | |||
514 | public override bool Kinematic |
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515 | { |
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516 | get { return true; } |
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517 | set { return; } |
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518 | } |
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519 | |||
520 | public override void link(PhysicsActor obj) |
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521 | { |
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522 | } |
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523 | |||
524 | public override void delink() |
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525 | { |
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526 | } |
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527 | |||
528 | public override void LockAngularMotion(Vector3 axis) |
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529 | { |
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530 | } |
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531 | |||
532 | public override void AddForce(Vector3 force, bool pushforce) |
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533 | { |
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534 | } |
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535 | |||
536 | public override void AddAngularForce(Vector3 force, bool pushforce) |
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537 | { |
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538 | |||
539 | } |
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540 | |||
541 | public override Vector3 RotationalVelocity |
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542 | { |
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543 | get { return Vector3.Zero; } |
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544 | set { return; } |
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545 | } |
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546 | |||
547 | public override Vector3 PIDTarget { set { return; } } |
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548 | public override bool PIDActive { set { return; } } |
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549 | public override float PIDTau { set { return; } } |
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550 | |||
551 | public override float PIDHoverHeight { set { return; } } |
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552 | public override bool PIDHoverActive { set { return; } } |
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553 | public override PIDHoverType PIDHoverType { set { return; } } |
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554 | public override float PIDHoverTau { set { return; } } |
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555 | |||
556 | public override Quaternion APIDTarget { set { return; } } |
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557 | public override bool APIDActive { set { return; } } |
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558 | public override float APIDStrength { set { return; } } |
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559 | public override float APIDDamping { set { return; } } |
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560 | |||
561 | public override void SetMomentum(Vector3 momentum) |
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562 | { |
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563 | } |
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564 | |||
565 | public override void SubscribeEvents(int ms) |
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566 | { |
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567 | |||
568 | } |
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569 | public override void UnSubscribeEvents() |
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570 | { |
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571 | |||
572 | } |
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573 | public override bool SubscribedEvents() |
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574 | { |
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575 | return false; |
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576 | } |
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577 | } |
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578 | } |