BulletSim: add code to experimentally use asset hull data.

Default to 'off' as it needs debugging.

1 files changed, 51 insertions, 4 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index 0152233..b7f7e6c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -31,6 +31,7 @@ using System.Text;
 
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.Physics.Meshing;
 using OpenSim.Region.Physics.ConvexDecompositionDotNet;
 
 using OMV = OpenMetaverse;
@@ -573,9 +574,56 @@ public class BSShapeHull : BSShape
                                             PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
         BulletShape newShape = new BulletShape();
-        IntPtr hullPtr = IntPtr.Zero;
+        newShape.shapeKey = newHullKey;
 
-        if (BSParam.ShouldUseBulletHACD)
+        // Pass true for physicalness as this prevents the creation of bounding box which is not needed
+        IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
+
+        // If there is hull data in the mesh asset, build the hull from that
+        if (meshData != null && BSParam.ShouldUseAssetHulls)
+        {
+            Meshmerizer realMesher = physicsScene.mesher as Meshmerizer;
+            if (realMesher != null)
+            {
+                List<List<OMV.Vector3>> allHulls = realMesher.GetConvexHulls(size);
+                if (allHulls != null)
+                {
+                    int hullCount = allHulls.Count;
+                    int totalVertices = 1;      // include one for the count of the hulls
+                    // Using the structure described for HACD hulls, create the memory sturcture
+                    //     to pass the hull data to the creater.
+                    foreach (List<OMV.Vector3> hullVerts in allHulls)
+                    {
+                        totalVertices += 4;                     // add four for the vertex count and centroid
+                        totalVertices += hullVerts.Count * 3;   // one vertex is three dimensions
+                    }
+                    float[] convHulls = new float[totalVertices];
+
+                    convHulls[0] = (float)hullCount;
+                    int jj = 1;
+                    foreach (List<OMV.Vector3> hullVerts in allHulls)
+                    {
+                        convHulls[jj + 0] = hullVerts.Count;
+                        convHulls[jj + 1] = 0f;   // centroid x,y,z
+                        convHulls[jj + 2] = 0f;
+                        convHulls[jj + 3] = 0f;
+                        jj += 4;
+                        foreach (OMV.Vector3 oneVert in hullVerts)
+                        {
+                            convHulls[jj + 0] = oneVert.X;
+                            convHulls[jj + 1] = oneVert.Y;
+                            convHulls[jj + 2] = oneVert.Z;
+                            jj += 3;
+                        }
+                    }
+
+                    // create the hull data structure in Bullet
+                    newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
+                }
+            }
+        }
+        // If no hull specified in the asset and we should use Bullet's HACD approximation...
+        if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD)
         {
             // Build the hull shape from an existing mesh shape.
             // The mesh should have already been created in Bullet.
@@ -604,11 +652,10 @@ public class BSShapeHull : BSShape
             }
             physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
         }
+        // If no hull specified, use our HACD hull approximation.
         if (!newShape.HasPhysicalShape)
         {
             // Build a new hull in the physical world using the C# HACD algorigthm.
-            // Pass true for physicalness as this prevents the creation of bounding box which is not needed
-            IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
             if (meshData != null)
             {
                 if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)