opensim – Rev 1
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/*
* 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 copyrightD
* 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 System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading;
using OpenSim.Framework;
using OpenSim.Region.CoreModules;
using OpenSim.Region.Framework;
using OpenSim.Region.Framework.Interfaces;
using OpenSim.Region.Framework.Scenes;
using OpenSim.Region.Physics.Manager;
using Mono.Addins;
using Nini.Config;
using log4net;
using OpenMetaverse;
namespace OpenSim.Region.OptionalModules.Scripting
{
[Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule")]
public class ExtendedPhysics : INonSharedRegionModule
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static string LogHeader = "[EXTENDED PHYSICS]";
// =============================================================
// Since BulletSim is a plugin, this these values aren't defined easily in one place.
// This table must correspond to an identical table in BSScene.
// Per scene functions. See BSScene.
// Per avatar functions. See BSCharacter.
// Per prim functions. See BSPrim.
public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType";
public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed";
public const string PhysFunctChangeLinkType = "BulletSim.ChangeLinkType";
public const string PhysFunctGetLinkType = "BulletSim.GetLinkType";
public const string PhysFunctChangeLinkParams = "BulletSim.ChangeLinkParams";
// =============================================================
private IConfig Configuration { get; set; }
private bool Enabled { get; set; }
private Scene BaseScene { get; set; }
private IScriptModuleComms Comms { get; set; }
#region INonSharedRegionModule
public string Name { get { return this.GetType().Name; } }
public void Initialise(IConfigSource config)
{
BaseScene = null;
Enabled = false;
Configuration = null;
Comms = null;
try
{
if ((Configuration = config.Configs["ExtendedPhysics"]) != null)
{
Enabled = Configuration.GetBoolean("Enabled", Enabled);
}
}
catch (Exception e)
{
m_log.ErrorFormat("{0} Initialization error: {0}", LogHeader, e);
}
m_log.InfoFormat("{0} module {1} enabled", LogHeader, (Enabled ? "is" : "is not"));
}
public void Close()
{
if (BaseScene != null)
{
BaseScene.EventManager.OnObjectAddedToScene -= EventManager_OnObjectAddedToScene;
BaseScene.EventManager.OnSceneObjectPartUpdated -= EventManager_OnSceneObjectPartUpdated;
BaseScene = null;
}
}
public void AddRegion(Scene scene)
{
}
public void RemoveRegion(Scene scene)
{
if (BaseScene != null && BaseScene == scene)
{
Close();
}
}
public void RegionLoaded(Scene scene)
{
if (!Enabled) return;
BaseScene = scene;
Comms = BaseScene.RequestModuleInterface<IScriptModuleComms>();
if (Comms == null)
{
m_log.WarnFormat("{0} ScriptModuleComms interface not defined", LogHeader);
Enabled = false;
return;
}
// Register as LSL functions all the [ScriptInvocation] marked methods.
Comms.RegisterScriptInvocations(this);
Comms.RegisterConstants(this);
// When an object is modified, we might need to update its extended physics parameters
BaseScene.EventManager.OnObjectAddedToScene += EventManager_OnObjectAddedToScene;
BaseScene.EventManager.OnSceneObjectPartUpdated += EventManager_OnSceneObjectPartUpdated;
}
public Type ReplaceableInterface { get { return null; } }
#endregion // INonSharedRegionModule
private void EventManager_OnObjectAddedToScene(SceneObjectGroup obj)
{
}
// Event generated when some property of a prim changes.
private void EventManager_OnSceneObjectPartUpdated(SceneObjectPart sop, bool isFullUpdate)
{
}
[ScriptConstant]
public const int PHYS_CENTER_OF_MASS = 1 << 0;
[ScriptInvocation]
public string physGetEngineType(UUID hostID, UUID scriptID)
{
string ret = string.Empty;
if (BaseScene.PhysicsScene != null)
{
ret = BaseScene.PhysicsScene.EngineType;
}
return ret;
}
[ScriptConstant]
public const int PHYS_LINKSET_TYPE_CONSTRAINT = 0;
[ScriptConstant]
public const int PHYS_LINKSET_TYPE_COMPOUND = 1;
[ScriptConstant]
public const int PHYS_LINKSET_TYPE_MANUAL = 2;
[ScriptInvocation]
public int physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
{
int ret = -1;
if (!Enabled) return ret;
// The part that is requesting the change.
SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
if (requestingPart != null)
{
// The change is always made to the root of a linkset.
SceneObjectGroup containingGroup = requestingPart.ParentGroup;
SceneObjectPart rootPart = containingGroup.RootPart;
if (rootPart != null)
{
PhysicsActor rootPhysActor = rootPart.PhysActor;
if (rootPhysActor != null)
{
if (rootPhysActor.IsPhysical)
{
// Change a physical linkset by making non-physical, waiting for one heartbeat so all
// the prim and linkset state is updated, changing the type and making the
// linkset physical again.
containingGroup.ScriptSetPhysicsStatus(false);
Thread.Sleep(150); // longer than one heartbeat tick
// A kludge for the moment.
// Since compound linksets move the children but don't generate position updates to the
// simulator, it is possible for compound linkset children to have out-of-sync simulator
// and physical positions. The following causes the simulator to push the real child positions
// down into the physics engine to get everything synced.
containingGroup.UpdateGroupPosition(containingGroup.AbsolutePosition);
containingGroup.UpdateGroupRotationR(containingGroup.GroupRotation);
object[] parms2 = { rootPhysActor, null, linksetType };
ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, parms2));
Thread.Sleep(150); // longer than one heartbeat tick
containingGroup.ScriptSetPhysicsStatus(true);
}
else
{
// Non-physical linksets don't have a physical instantiation so there is no state to
// worry about being updated.
object[] parms2 = { rootPhysActor, null, linksetType };
ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, parms2));
}
}
else
{
m_log.WarnFormat("{0} physSetLinksetType: root part does not have a physics actor. rootName={1}, hostID={2}",
LogHeader, rootPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} physSetLinksetType: root part does not exist. RequestingPartName={1}, hostID={2}",
LogHeader, requestingPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} physSetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
}
return ret;
}
[ScriptInvocation]
public int physGetLinksetType(UUID hostID, UUID scriptID)
{
int ret = -1;
if (!Enabled) return ret;
// The part that is requesting the change.
SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
if (requestingPart != null)
{
// The type is is always on the root of a linkset.
SceneObjectGroup containingGroup = requestingPart.ParentGroup;
SceneObjectPart rootPart = containingGroup.RootPart;
if (rootPart != null)
{
PhysicsActor rootPhysActor = rootPart.PhysActor;
if (rootPhysActor != null)
{
object[] parms2 = { rootPhysActor, null };
ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinksetType, parms2));
}
else
{
m_log.WarnFormat("{0} physGetLinksetType: root part does not have a physics actor. rootName={1}, hostID={2}",
LogHeader, rootPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} physGetLinksetType: root part does not exist. RequestingPartName={1}, hostID={2}",
LogHeader, requestingPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} physGetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
}
return ret;
}
[ScriptConstant]
public const int PHYS_LINK_TYPE_FIXED = 1234;
[ScriptConstant]
public const int PHYS_LINK_TYPE_HINGE = 4;
[ScriptConstant]
public const int PHYS_LINK_TYPE_SPRING = 9;
[ScriptConstant]
public const int PHYS_LINK_TYPE_6DOF = 6;
[ScriptConstant]
public const int PHYS_LINK_TYPE_SLIDER = 7;
// physChangeLinkType(integer linkNum, integer typeCode)
[ScriptInvocation]
public int physChangeLinkType(UUID hostID, UUID scriptID, int linkNum, int typeCode)
{
int ret = -1;
if (!Enabled) return ret;
PhysicsActor rootPhysActor;
PhysicsActor childPhysActor;
if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
{
object[] parms2 = { rootPhysActor, childPhysActor, typeCode };
ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, parms2));
}
return ret;
}
// physGetLinkType(integer linkNum)
[ScriptInvocation]
public int physGetLinkType(UUID hostID, UUID scriptID, int linkNum)
{
int ret = -1;
if (!Enabled) return ret;
PhysicsActor rootPhysActor;
PhysicsActor childPhysActor;
if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
{
object[] parms2 = { rootPhysActor, childPhysActor };
ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinkType, parms2));
}
return ret;
}
// physChangeLinkFixed(integer linkNum)
// Change the link between the root and the linkNum into a fixed, static physical connection.
[ScriptInvocation]
public int physChangeLinkFixed(UUID hostID, UUID scriptID, int linkNum)
{
int ret = -1;
if (!Enabled) return ret;
PhysicsActor rootPhysActor;
PhysicsActor childPhysActor;
if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
{
object[] parms2 = { rootPhysActor, childPhysActor , PHYS_LINK_TYPE_FIXED };
ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, parms2));
}
return ret;
}
// Code for specifying params.
// The choice if 14400 is arbitrary and only serves to catch parameter code misuse.
public const int PHYS_PARAM_MIN = 14401;
[ScriptConstant]
public const int PHYS_PARAM_FRAMEINA_LOC = 14401;
[ScriptConstant]
public const int PHYS_PARAM_FRAMEINA_ROT = 14402;
[ScriptConstant]
public const int PHYS_PARAM_FRAMEINB_LOC = 14403;
[ScriptConstant]
public const int PHYS_PARAM_FRAMEINB_ROT = 14404;
[ScriptConstant]
public const int PHYS_PARAM_LINEAR_LIMIT_LOW = 14405;
[ScriptConstant]
public const int PHYS_PARAM_LINEAR_LIMIT_HIGH = 14406;
[ScriptConstant]
public const int PHYS_PARAM_ANGULAR_LIMIT_LOW = 14407;
[ScriptConstant]
public const int PHYS_PARAM_ANGULAR_LIMIT_HIGH = 14408;
[ScriptConstant]
public const int PHYS_PARAM_USE_FRAME_OFFSET = 14409;
[ScriptConstant]
public const int PHYS_PARAM_ENABLE_TRANSMOTOR = 14410;
[ScriptConstant]
public const int PHYS_PARAM_TRANSMOTOR_MAXVEL = 14411;
[ScriptConstant]
public const int PHYS_PARAM_TRANSMOTOR_MAXFORCE = 14412;
[ScriptConstant]
public const int PHYS_PARAM_CFM = 14413;
[ScriptConstant]
public const int PHYS_PARAM_ERP = 14414;
[ScriptConstant]
public const int PHYS_PARAM_SOLVER_ITERATIONS = 14415;
[ScriptConstant]
public const int PHYS_PARAM_SPRING_AXIS_ENABLE = 14416;
[ScriptConstant]
public const int PHYS_PARAM_SPRING_DAMPING = 14417;
[ScriptConstant]
public const int PHYS_PARAM_SPRING_STIFFNESS = 14418;
[ScriptConstant]
public const int PHYS_PARAM_LINK_TYPE = 14419;
[ScriptConstant]
public const int PHYS_PARAM_USE_LINEAR_FRAMEA = 14420;
[ScriptConstant]
public const int PHYS_PARAM_SPRING_EQUILIBRIUM_POINT = 14421;
public const int PHYS_PARAM_MAX = 14421;
// Used when specifying a parameter that has settings for the three linear and three angular axis
[ScriptConstant]
public const int PHYS_AXIS_ALL = -1;
[ScriptConstant]
public const int PHYS_AXIS_LINEAR_ALL = -2;
[ScriptConstant]
public const int PHYS_AXIS_ANGULAR_ALL = -3;
[ScriptConstant]
public const int PHYS_AXIS_LINEAR_X = 0;
[ScriptConstant]
public const int PHYS_AXIS_LINEAR_Y = 1;
[ScriptConstant]
public const int PHYS_AXIS_LINEAR_Z = 2;
[ScriptConstant]
public const int PHYS_AXIS_ANGULAR_X = 3;
[ScriptConstant]
public const int PHYS_AXIS_ANGULAR_Y = 4;
[ScriptConstant]
public const int PHYS_AXIS_ANGULAR_Z = 5;
// physChangeLinkParams(integer linkNum, [ PHYS_PARAM_*, value, PHYS_PARAM_*, value, ...])
[ScriptInvocation]
public int physChangeLinkParams(UUID hostID, UUID scriptID, int linkNum, object[] parms)
{
int ret = -1;
if (!Enabled) return ret;
PhysicsActor rootPhysActor;
PhysicsActor childPhysActor;
if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
{
object[] parms2 = AddToBeginningOfArray(rootPhysActor, childPhysActor, parms);
ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkParams, parms2));
}
return ret;
}
private bool GetRootPhysActor(UUID hostID, out PhysicsActor rootPhysActor)
{
SceneObjectGroup containingGroup;
SceneObjectPart rootPart;
return GetRootPhysActor(hostID, out containingGroup, out rootPart, out rootPhysActor);
}
private bool GetRootPhysActor(UUID hostID, out SceneObjectGroup containingGroup, out SceneObjectPart rootPart, out PhysicsActor rootPhysActor)
{
bool ret = false;
rootPhysActor = null;
containingGroup = null;
rootPart = null;
SceneObjectPart requestingPart;
requestingPart = BaseScene.GetSceneObjectPart(hostID);
if (requestingPart != null)
{
// The type is is always on the root of a linkset.
containingGroup = requestingPart.ParentGroup;
if (containingGroup != null && !containingGroup.IsDeleted)
{
rootPart = containingGroup.RootPart;
if (rootPart != null)
{
rootPhysActor = rootPart.PhysActor;
if (rootPhysActor != null)
{
ret = true;
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not have a physics actor. rootName={1}, hostID={2}",
LogHeader, rootPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not exist. RequestingPartName={1}, hostID={2}",
LogHeader, requestingPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Containing group missing or deleted. hostID={1}", LogHeader, hostID);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: cannot find script object in scene. hostID={1}", LogHeader, hostID);
}
return ret;
}
// Find the root and child PhysActors based on the linkNum.
// Return 'true' if both are found and returned.
private bool GetRootAndChildPhysActors(UUID hostID, int linkNum, out PhysicsActor rootPhysActor, out PhysicsActor childPhysActor)
{
bool ret = false;
rootPhysActor = null;
childPhysActor = null;
SceneObjectGroup containingGroup;
SceneObjectPart rootPart;
if (GetRootPhysActor(hostID, out containingGroup, out rootPart, out rootPhysActor))
{
SceneObjectPart linkPart = containingGroup.GetLinkNumPart(linkNum);
if (linkPart != null)
{
childPhysActor = linkPart.PhysActor;
if (childPhysActor != null)
{
ret = true;
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Link part has no physical actor. rootName={1}, hostID={2}, linknum={3}",
LogHeader, rootPart.Name, hostID, linkNum);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Could not find linknum part. rootName={1}, hostID={2}, linknum={3}",
LogHeader, rootPart.Name, hostID, linkNum);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not have a physics actor. rootName={1}, hostID={2}",
LogHeader, rootPart.Name, hostID);
}
return ret;
}
// Return an array of objects with the passed object as the first object of a new array
private object[] AddToBeginningOfArray(object firstOne, object secondOne, object[] prevArray)
{
object[] newArray = new object[2 + prevArray.Length];
newArray[0] = firstOne;
newArray[1] = secondOne;
prevArray.CopyTo(newArray, 2);
return newArray;
}
// Extension() returns an object. Convert that object into the integer error we expect to return.
private int MakeIntError(object extensionRet)
{
int ret = -1;
if (extensionRet != null)
{
try
{
ret = (int)extensionRet;
}
catch
{
ret = -1;
}
}
return ret;
}
}
}