opensim – Blame information for rev 1
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1 | eva | 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 System; |
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29 | using System.Collections.Generic; |
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30 | using System.Reflection; |
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31 | |||
32 | using log4net; |
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33 | using Nini.Config; |
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34 | |||
35 | using OpenSim.Framework; |
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36 | using OpenMetaverse; |
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37 | |||
38 | namespace OpenSim.Region.Physics.Manager |
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39 | { |
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40 | public delegate void physicsCrash(); |
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41 | |||
42 | public delegate void RaycastCallback(bool hitYN, Vector3 collisionPoint, uint localid, float distance, Vector3 normal); |
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43 | public delegate void RayCallback(List<ContactResult> list); |
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44 | |||
45 | public delegate void JointMoved(PhysicsJoint joint); |
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46 | public delegate void JointDeactivated(PhysicsJoint joint); |
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47 | public delegate void JointErrorMessage(PhysicsJoint joint, string message); // this refers to an "error message due to a problem", not "amount of joint constraint violation" |
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48 | |||
49 | public enum RayFilterFlags : ushort |
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50 | { |
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51 | // the flags |
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52 | water = 0x01, |
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53 | land = 0x02, |
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54 | agent = 0x04, |
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55 | nonphysical = 0x08, |
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56 | physical = 0x10, |
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57 | phantom = 0x20, |
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58 | volumedtc = 0x40, |
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59 | |||
60 | // ray cast colision control (may only work for meshs) |
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61 | ContactsUnImportant = 0x2000, |
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62 | BackFaceCull = 0x4000, |
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63 | ClosestHit = 0x8000, |
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64 | |||
65 | // some combinations |
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66 | LSLPhantom = phantom | volumedtc, |
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67 | PrimsNonPhantom = nonphysical | physical, |
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68 | PrimsNonPhantomAgents = nonphysical | physical | agent, |
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69 | |||
70 | AllPrims = nonphysical | phantom | volumedtc | physical, |
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71 | AllButLand = agent | nonphysical | physical | phantom | volumedtc, |
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72 | |||
73 | ClosestAndBackCull = ClosestHit | BackFaceCull, |
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74 | |||
75 | All = 0x3f |
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76 | } |
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77 | |||
78 | public delegate void RequestAssetDelegate(UUID assetID, AssetReceivedDelegate callback); |
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79 | public delegate void AssetReceivedDelegate(AssetBase asset); |
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80 | |||
81 | /// <summary> |
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82 | /// Contact result from a raycast. |
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83 | /// </summary> |
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84 | public struct ContactResult |
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85 | { |
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86 | public Vector3 Pos; |
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87 | public float Depth; |
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88 | public uint ConsumerID; |
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89 | public Vector3 Normal; |
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90 | } |
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91 | |||
92 | public abstract class PhysicsScene |
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93 | { |
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94 | // private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); |
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95 | |||
96 | /// <summary> |
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97 | /// A unique identifying string for this instance of the physics engine. |
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98 | /// Useful in debug messages to distinguish one OdeScene instance from another. |
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99 | /// Usually set to include the region name that the physics engine is acting for. |
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100 | /// </summary> |
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101 | public string Name { get; protected set; } |
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102 | |||
103 | /// <summary> |
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104 | /// A string identifying the family of this physics engine. Most common values returned |
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105 | /// are "OpenDynamicsEngine" and "BulletSim" but others are possible. |
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106 | /// </summary> |
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107 | public string EngineType { get; protected set; } |
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108 | |||
109 | // The only thing that should register for this event is the SceneGraph |
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110 | // Anything else could cause problems. |
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111 | public event physicsCrash OnPhysicsCrash; |
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112 | |||
113 | public static PhysicsScene Null |
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114 | { |
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115 | get { return new NullPhysicsScene(); } |
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116 | } |
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117 | |||
118 | public RequestAssetDelegate RequestAssetMethod { get; set; } |
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119 | |||
120 | public virtual void TriggerPhysicsBasedRestart() |
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121 | { |
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122 | physicsCrash handler = OnPhysicsCrash; |
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123 | if (handler != null) |
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124 | { |
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125 | OnPhysicsCrash(); |
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126 | } |
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127 | } |
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128 | |||
129 | // Deprecated. Do not use this for new physics engines. |
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130 | public abstract void Initialise(IMesher meshmerizer, IConfigSource config); |
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131 | |||
132 | // For older physics engines that do not implement non-legacy region sizes. |
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133 | // If the physics engine handles the region extent feature, it overrides this function. |
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134 | public virtual void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent) |
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135 | { |
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136 | // If not overridden, call the old initialization entry. |
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137 | Initialise(meshmerizer, config); |
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138 | } |
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139 | |||
140 | /// <summary> |
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141 | /// Add an avatar |
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142 | /// </summary> |
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143 | /// <param name="avName"></param> |
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144 | /// <param name="position"></param> |
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145 | /// <param name="size"></param> |
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146 | /// <param name="isFlying"></param> |
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147 | /// <returns></returns> |
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148 | public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying); |
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149 | |||
150 | /// <summary> |
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151 | /// Add an avatar |
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152 | /// </summary> |
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153 | /// <param name="localID"></param> |
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154 | /// <param name="avName"></param> |
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155 | /// <param name="position"></param> |
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156 | /// <param name="size"></param> |
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157 | /// <param name="isFlying"></param> |
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158 | /// <returns></returns> |
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159 | public virtual PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying) |
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160 | { |
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161 | PhysicsActor ret = AddAvatar(avName, position, size, isFlying); |
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162 | if (ret != null) ret.LocalID = localID; |
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163 | return ret; |
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164 | } |
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165 | |||
166 | /// <summary> |
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167 | /// Remove an avatar. |
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168 | /// </summary> |
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169 | /// <param name="actor"></param> |
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170 | public abstract void RemoveAvatar(PhysicsActor actor); |
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171 | |||
172 | /// <summary> |
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173 | /// Remove a prim. |
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174 | /// </summary> |
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175 | /// <param name="prim"></param> |
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176 | public abstract void RemovePrim(PhysicsActor prim); |
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177 | |||
178 | public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, |
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179 | Vector3 size, Quaternion rotation, bool isPhysical, uint localid); |
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180 | |||
181 | public virtual PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, |
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182 | Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapetype, uint localid) |
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183 | { |
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184 | return AddPrimShape(primName, pbs, position, size, rotation, isPhysical, localid); |
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185 | } |
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186 | |||
187 | public virtual float TimeDilation |
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188 | { |
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189 | get { return 1.0f; } |
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190 | } |
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191 | |||
192 | public virtual bool SupportsNINJAJoints |
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193 | { |
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194 | get { return false; } |
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195 | } |
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196 | |||
197 | public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position, |
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198 | Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation) |
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199 | { return null; } |
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200 | |||
201 | public virtual void RequestJointDeletion(string objectNameInScene) |
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202 | { return; } |
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203 | |||
204 | public virtual void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor) |
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205 | { return; } |
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206 | |||
207 | public virtual void DumpJointInfo() |
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208 | { return; } |
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209 | |||
210 | public event JointMoved OnJointMoved; |
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211 | |||
212 | protected virtual void DoJointMoved(PhysicsJoint joint) |
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213 | { |
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214 | // We need this to allow subclasses (but not other classes) to invoke the event; C# does |
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215 | // not allow subclasses to invoke the parent class event. |
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216 | if (OnJointMoved != null) |
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217 | { |
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218 | OnJointMoved(joint); |
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219 | } |
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220 | } |
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221 | |||
222 | public event JointDeactivated OnJointDeactivated; |
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223 | |||
224 | protected virtual void DoJointDeactivated(PhysicsJoint joint) |
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225 | { |
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226 | // We need this to allow subclasses (but not other classes) to invoke the event; C# does |
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227 | // not allow subclasses to invoke the parent class event. |
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228 | if (OnJointDeactivated != null) |
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229 | { |
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230 | OnJointDeactivated(joint); |
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231 | } |
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232 | } |
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233 | |||
234 | public event JointErrorMessage OnJointErrorMessage; |
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235 | |||
236 | protected virtual void DoJointErrorMessage(PhysicsJoint joint, string message) |
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237 | { |
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238 | // We need this to allow subclasses (but not other classes) to invoke the event; C# does |
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239 | // not allow subclasses to invoke the parent class event. |
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240 | if (OnJointErrorMessage != null) |
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241 | { |
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242 | OnJointErrorMessage(joint, message); |
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243 | } |
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244 | } |
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245 | |||
246 | public virtual Vector3 GetJointAnchor(PhysicsJoint joint) |
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247 | { return Vector3.Zero; } |
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248 | |||
249 | public virtual Vector3 GetJointAxis(PhysicsJoint joint) |
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250 | { return Vector3.Zero; } |
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251 | |||
252 | public abstract void AddPhysicsActorTaint(PhysicsActor prim); |
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253 | |||
254 | /// <summary> |
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255 | /// Perform a simulation of the current physics scene over the given timestep. |
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256 | /// </summary> |
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257 | /// <param name="timeStep"></param> |
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258 | /// <returns>The number of frames simulated over that period.</returns> |
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259 | public abstract float Simulate(float timeStep); |
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260 | |||
261 | /// <summary> |
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262 | /// Get statistics about this scene. |
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263 | /// </summary> |
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264 | /// <remarks>This facility is currently experimental and subject to change.</remarks> |
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265 | /// <returns> |
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266 | /// A dictionary where the key is the statistic name. If no statistics are supplied then returns null. |
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267 | /// </returns> |
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268 | public virtual Dictionary<string, float> GetStats() { return null; } |
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269 | |||
270 | public abstract void GetResults(); |
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271 | |||
272 | public abstract void SetTerrain(float[] heightMap); |
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273 | |||
274 | public abstract void SetWaterLevel(float baseheight); |
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275 | |||
276 | public abstract void DeleteTerrain(); |
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277 | |||
278 | public abstract void Dispose(); |
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279 | |||
280 | public abstract Dictionary<uint, float> GetTopColliders(); |
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281 | |||
282 | public abstract bool IsThreaded { get; } |
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283 | |||
284 | /// <summary> |
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285 | /// True if the physics plugin supports raycasting against the physics scene |
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286 | /// </summary> |
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287 | public virtual bool SupportsRayCast() |
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288 | { |
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289 | return false; |
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290 | } |
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291 | |||
292 | public virtual bool SupportsCombining() |
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293 | { |
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294 | return false; |
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295 | } |
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296 | |||
297 | public virtual void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) {} |
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298 | |||
299 | public virtual void UnCombine(PhysicsScene pScene) {} |
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300 | |||
301 | /// <summary> |
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302 | /// Queue a raycast against the physics scene. |
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303 | /// The provided callback method will be called when the raycast is complete |
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304 | /// |
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305 | /// Many physics engines don't support collision testing at the same time as |
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306 | /// manipulating the physics scene, so we queue the request up and callback |
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307 | /// a custom method when the raycast is complete. |
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308 | /// This allows physics engines that give an immediate result to callback immediately |
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309 | /// and ones that don't, to callback when it gets a result back. |
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310 | /// |
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311 | /// ODE for example will not allow you to change the scene while collision testing or |
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312 | /// it asserts, 'opteration not valid for locked space'. This includes adding a ray to the scene. |
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313 | /// |
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314 | /// This is named RayCastWorld to not conflict with modrex's Raycast method. |
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315 | /// </summary> |
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316 | /// <param name="position">Origin of the ray</param> |
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317 | /// <param name="direction">Direction of the ray</param> |
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318 | /// <param name="length">Length of ray in meters</param> |
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319 | /// <param name="retMethod">Method to call when the raycast is complete</param> |
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320 | public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) |
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321 | { |
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322 | if (retMethod != null) |
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323 | retMethod(false, Vector3.Zero, 0, 999999999999f, Vector3.Zero); |
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324 | } |
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325 | |||
326 | public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) |
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327 | { |
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328 | if (retMethod != null) |
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329 | retMethod(new List<ContactResult>()); |
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330 | } |
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331 | |||
332 | public virtual List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count) |
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333 | { |
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334 | return new List<ContactResult>(); |
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335 | } |
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336 | |||
337 | public virtual object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter) |
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338 | { |
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339 | return null; |
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340 | } |
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341 | |||
342 | public virtual bool SupportsRaycastWorldFiltered() |
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343 | { |
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344 | return false; |
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345 | } |
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346 | |||
347 | // Extendable interface for new, physics engine specific operations |
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348 | public virtual object Extension(string pFunct, params object[] pParams) |
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349 | { |
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350 | // A NOP if the extension thing is not implemented by the physics engine |
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351 | return null; |
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352 | } |
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353 | } |
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354 | } |