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
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* 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.
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* 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
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Reflection;
using log4net;
using Nini.Config;
using OpenSim.Framework;
using OpenMetaverse;
namespace OpenSim.Region.Physics.Manager
{
public delegate void physicsCrash();
public delegate void RaycastCallback(bool hitYN, Vector3 collisionPoint, uint localid, float distance, Vector3 normal);
public delegate void RayCallback(List<ContactResult> list);
public delegate void JointMoved(PhysicsJoint joint);
public delegate void JointDeactivated(PhysicsJoint joint);
public delegate void JointErrorMessage(PhysicsJoint joint, string message); // this refers to an "error message due to a problem", not "amount of joint constraint violation"
public enum RayFilterFlags : ushort
{
// the flags
water = 0x01,
land = 0x02,
agent = 0x04,
nonphysical = 0x08,
physical = 0x10,
phantom = 0x20,
volumedtc = 0x40,
// ray cast colision control (may only work for meshs)
ContactsUnImportant = 0x2000,
BackFaceCull = 0x4000,
ClosestHit = 0x8000,
// some combinations
LSLPhantom = phantom | volumedtc,
PrimsNonPhantom = nonphysical | physical,
PrimsNonPhantomAgents = nonphysical | physical | agent,
AllPrims = nonphysical | phantom | volumedtc | physical,
AllButLand = agent | nonphysical | physical | phantom | volumedtc,
ClosestAndBackCull = ClosestHit | BackFaceCull,
All = 0x3f
}
public delegate void RequestAssetDelegate(UUID assetID, AssetReceivedDelegate callback);
public delegate void AssetReceivedDelegate(AssetBase asset);
/// <summary>
/// Contact result from a raycast.
/// </summary>
public struct ContactResult
{
public Vector3 Pos;
public float Depth;
public uint ConsumerID;
public Vector3 Normal;
}
public abstract class PhysicsScene
{
// private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
/// <summary>
/// A unique identifying string for this instance of the physics engine.
/// Useful in debug messages to distinguish one OdeScene instance from another.
/// Usually set to include the region name that the physics engine is acting for.
/// </summary>
public string Name { get; protected set; }
/// <summary>
/// A string identifying the family of this physics engine. Most common values returned
/// are "OpenDynamicsEngine" and "BulletSim" but others are possible.
/// </summary>
public string EngineType { get; protected set; }
// The only thing that should register for this event is the SceneGraph
// Anything else could cause problems.
public event physicsCrash OnPhysicsCrash;
public static PhysicsScene Null
{
get { return new NullPhysicsScene(); }
}
public RequestAssetDelegate RequestAssetMethod { get; set; }
public virtual void TriggerPhysicsBasedRestart()
{
physicsCrash handler = OnPhysicsCrash;
if (handler != null)
{
OnPhysicsCrash();
}
}
// Deprecated. Do not use this for new physics engines.
public abstract void Initialise(IMesher meshmerizer, IConfigSource config);
// For older physics engines that do not implement non-legacy region sizes.
// If the physics engine handles the region extent feature, it overrides this function.
public virtual void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent)
{
// If not overridden, call the old initialization entry.
Initialise(meshmerizer, config);
}
/// <summary>
/// Add an avatar
/// </summary>
/// <param name="avName"></param>
/// <param name="position"></param>
/// <param name="size"></param>
/// <param name="isFlying"></param>
/// <returns></returns>
public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying);
/// <summary>
/// Add an avatar
/// </summary>
/// <param name="localID"></param>
/// <param name="avName"></param>
/// <param name="position"></param>
/// <param name="size"></param>
/// <param name="isFlying"></param>
/// <returns></returns>
public virtual PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
{
PhysicsActor ret = AddAvatar(avName, position, size, isFlying);
if (ret != null) ret.LocalID = localID;
return ret;
}
/// <summary>
/// Remove an avatar.
/// </summary>
/// <param name="actor"></param>
public abstract void RemoveAvatar(PhysicsActor actor);
/// <summary>
/// Remove a prim.
/// </summary>
/// <param name="prim"></param>
public abstract void RemovePrim(PhysicsActor prim);
public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation, bool isPhysical, uint localid);
public virtual PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapetype, uint localid)
{
return AddPrimShape(primName, pbs, position, size, rotation, isPhysical, localid);
}
public virtual float TimeDilation
{
get { return 1.0f; }
}
public virtual bool SupportsNINJAJoints
{
get { return false; }
}
public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
{ return null; }
public virtual void RequestJointDeletion(string objectNameInScene)
{ return; }
public virtual void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
{ return; }
public virtual void DumpJointInfo()
{ return; }
public event JointMoved OnJointMoved;
protected virtual void DoJointMoved(PhysicsJoint joint)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointMoved != null)
{
OnJointMoved(joint);
}
}
public event JointDeactivated OnJointDeactivated;
protected virtual void DoJointDeactivated(PhysicsJoint joint)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointDeactivated != null)
{
OnJointDeactivated(joint);
}
}
public event JointErrorMessage OnJointErrorMessage;
protected virtual void DoJointErrorMessage(PhysicsJoint joint, string message)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointErrorMessage != null)
{
OnJointErrorMessage(joint, message);
}
}
public virtual Vector3 GetJointAnchor(PhysicsJoint joint)
{ return Vector3.Zero; }
public virtual Vector3 GetJointAxis(PhysicsJoint joint)
{ return Vector3.Zero; }
public abstract void AddPhysicsActorTaint(PhysicsActor prim);
/// <summary>
/// Perform a simulation of the current physics scene over the given timestep.
/// </summary>
/// <param name="timeStep"></param>
/// <returns>The number of frames simulated over that period.</returns>
public abstract float Simulate(float timeStep);
/// <summary>
/// Get statistics about this scene.
/// </summary>
/// <remarks>This facility is currently experimental and subject to change.</remarks>
/// <returns>
/// A dictionary where the key is the statistic name. If no statistics are supplied then returns null.
/// </returns>
public virtual Dictionary<string, float> GetStats() { return null; }
public abstract void GetResults();
public abstract void SetTerrain(float[] heightMap);
public abstract void SetWaterLevel(float baseheight);
public abstract void DeleteTerrain();
public abstract void Dispose();
public abstract Dictionary<uint, float> GetTopColliders();
public abstract bool IsThreaded { get; }
/// <summary>
/// True if the physics plugin supports raycasting against the physics scene
/// </summary>
public virtual bool SupportsRayCast()
{
return false;
}
public virtual bool SupportsCombining()
{
return false;
}
public virtual void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) {}
public virtual void UnCombine(PhysicsScene pScene) {}
/// <summary>
/// Queue a raycast against the physics scene.
/// The provided callback method will be called when the raycast is complete
///
/// Many physics engines don't support collision testing at the same time as
/// manipulating the physics scene, so we queue the request up and callback
/// a custom method when the raycast is complete.
/// This allows physics engines that give an immediate result to callback immediately
/// and ones that don't, to callback when it gets a result back.
///
/// ODE for example will not allow you to change the scene while collision testing or
/// it asserts, 'opteration not valid for locked space'. This includes adding a ray to the scene.
///
/// This is named RayCastWorld to not conflict with modrex's Raycast method.
/// </summary>
/// <param name="position">Origin of the ray</param>
/// <param name="direction">Direction of the ray</param>
/// <param name="length">Length of ray in meters</param>
/// <param name="retMethod">Method to call when the raycast is complete</param>
public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
{
if (retMethod != null)
retMethod(false, Vector3.Zero, 0, 999999999999f, Vector3.Zero);
}
public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
{
if (retMethod != null)
retMethod(new List<ContactResult>());
}
public virtual List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
{
return new List<ContactResult>();
}
public virtual object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
{
return null;
}
public virtual bool SupportsRaycastWorldFiltered()
{
return false;
}
// Extendable interface for new, physics engine specific operations
public virtual object Extension(string pFunct, params object[] pParams)
{
// A NOP if the extension thing is not implemented by the physics engine
return null;
}
}
}