OpenSim-Test/OpenSim/Region/Physics/Manager/PhysicsScene.cs

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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);

    /// <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);

        // 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 virtual void TriggerPhysicsBasedRestart()
        {
            physicsCrash handler = OnPhysicsCrash;
            if (handler != null)
            {
                OnPhysicsCrash();
            }
        }

        public abstract void Initialise(IMesher meshmerizer, IConfigSource config);

        public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying);

        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;
        }

        public abstract void RemoveAvatar(PhysicsActor actor);

        /// <summary>
        /// Remove a prim from the physics scene.
        /// </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 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);

        public abstract float Simulate(float timeStep);

        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)
        {
            return;
        }

        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>();
        }

        private class NullPhysicsScene : PhysicsScene
        {
            private static int m_workIndicator;


            public override void Initialise(IMesher meshmerizer, IConfigSource config)
            {
                // Does nothing right now
            }

            public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
            {
                m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddAvatar({0})", position);
                return PhysicsActor.Null;
            }

            public override void RemoveAvatar(PhysicsActor actor)
            {
            }

            public override void RemovePrim(PhysicsActor prim)
            {
            }
            public override void SetWaterLevel(float baseheight)
            {

            }

/*
            public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
            {
                m_log.InfoFormat("NullPhysicsScene : AddPrim({0},{1})", position, size);
                return PhysicsActor.Null;
            }
*/

            public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
                                                      Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
            {
                m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddPrim({0},{1})", position, size);
                return PhysicsActor.Null;
            }

            public override void AddPhysicsActorTaint(PhysicsActor prim)
            {
            }

            public override float Simulate(float timeStep)
            {
                m_workIndicator = (m_workIndicator + 1) % 10;

                return 0f;
            }

            public override void GetResults()
            {
                m_log.Info("[PHYSICS]: NullPhysicsScene : GetResults()");
            }

            public override void SetTerrain(float[] heightMap)
            {
                m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : SetTerrain({0} items)", heightMap.Length);
            }

            public override void DeleteTerrain()
            {
            }

            public override bool IsThreaded
            {
                get { return false; }
            }

            public override void Dispose()
            {
            }

            public override Dictionary<uint,float> GetTopColliders()
            {
                Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
                return returncolliders;
            }
            
        }
    }
    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"
}