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author | Robert Adams | 2012-09-20 10:12:51 -0700 |
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committer | Robert Adams | 2012-09-27 22:01:26 -0700 |
commit | 22290ef35aa13edb1501c69b3cce63a885302563 (patch) | |
tree | 2c4762479fb5336c3338acdd2d761fc8c15a04e9 /OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |
parent | BulletSim: add class and infrastructure for shape and object (diff) | |
download | opensim-SC-22290ef35aa13edb1501c69b3cce63a885302563.zip opensim-SC-22290ef35aa13edb1501c69b3cce63a885302563.tar.gz opensim-SC-22290ef35aa13edb1501c69b3cce63a885302563.tar.bz2 opensim-SC-22290ef35aa13edb1501c69b3cce63a885302563.tar.xz |
BulletSim: complete code for managed code shape and body tracking. Not debugged.
Eliminate some null exceptions created adding the above code.
Add and remove some detailed logging statements.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 43 |
1 files changed, 39 insertions, 4 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 52c8a24..47875b0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -40,7 +40,9 @@ public struct BulletSim | |||
40 | { | 40 | { |
41 | public BulletSim(uint worldId, BSScene bss, IntPtr xx) | 41 | public BulletSim(uint worldId, BSScene bss, IntPtr xx) |
42 | { | 42 | { |
43 | worldID = worldId; scene = bss; Ptr = xx; | 43 | worldID = worldId; |
44 | scene = bss; | ||
45 | Ptr = xx; | ||
44 | } | 46 | } |
45 | public uint worldID; | 47 | public uint worldID; |
46 | // The scene is only in here so very low level routines have a handle to print debug/error messages | 48 | // The scene is only in here so very low level routines have a handle to print debug/error messages |
@@ -58,6 +60,16 @@ public struct BulletBody | |||
58 | } | 60 | } |
59 | public IntPtr Ptr; | 61 | public IntPtr Ptr; |
60 | public uint ID; | 62 | public uint ID; |
63 | public override string ToString() | ||
64 | { | ||
65 | StringBuilder buff = new StringBuilder(); | ||
66 | buff.Append("<id="); | ||
67 | buff.Append(ID.ToString()); | ||
68 | buff.Append(",p="); | ||
69 | buff.Append(Ptr.ToString("X")); | ||
70 | buff.Append(">"); | ||
71 | return buff.ToString(); | ||
72 | } | ||
61 | } | 73 | } |
62 | 74 | ||
63 | public struct BulletShape | 75 | public struct BulletShape |
@@ -66,17 +78,29 @@ public struct BulletShape | |||
66 | { | 78 | { |
67 | Ptr = xx; | 79 | Ptr = xx; |
68 | type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; | 80 | type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; |
69 | hashKey = 0; | 81 | shapeKey = 0; |
70 | } | 82 | } |
71 | public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) | 83 | public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) |
72 | { | 84 | { |
73 | Ptr = xx; | 85 | Ptr = xx; |
74 | type = typ; | 86 | type = typ; |
75 | hashKey = 0; | 87 | shapeKey = 0; |
76 | } | 88 | } |
77 | public IntPtr Ptr; | 89 | public IntPtr Ptr; |
78 | public ShapeData.PhysicsShapeType type; | 90 | public ShapeData.PhysicsShapeType type; |
79 | public ulong hashKey; | 91 | public ulong shapeKey; |
92 | public override string ToString() | ||
93 | { | ||
94 | StringBuilder buff = new StringBuilder(); | ||
95 | buff.Append("<p="); | ||
96 | buff.Append(Ptr.ToString("X")); | ||
97 | buff.Append(",s="); | ||
98 | buff.Append(type.ToString()); | ||
99 | buff.Append(",k="); | ||
100 | buff.Append(shapeKey.ToString("X")); | ||
101 | buff.Append(">"); | ||
102 | return buff.ToString(); | ||
103 | } | ||
80 | } | 104 | } |
81 | 105 | ||
82 | // An allocated Bullet btConstraint | 106 | // An allocated Bullet btConstraint |
@@ -155,10 +179,21 @@ public struct ShapeData | |||
155 | public float Restitution; | 179 | public float Restitution; |
156 | public float Collidable; // true of things bump into this | 180 | public float Collidable; // true of things bump into this |
157 | public float Static; // true if a static object. Otherwise gravity, etc. | 181 | public float Static; // true if a static object. Otherwise gravity, etc. |
182 | public float Solid; // true if object cannot be passed through | ||
183 | public Vector3 Size; | ||
158 | 184 | ||
159 | // note that bools are passed as floats since bool size changes by language and architecture | 185 | // note that bools are passed as floats since bool size changes by language and architecture |
160 | public const float numericTrue = 1f; | 186 | public const float numericTrue = 1f; |
161 | public const float numericFalse = 0f; | 187 | public const float numericFalse = 0f; |
188 | |||
189 | // The native shapes have predefined shape hash keys | ||
190 | public enum FixedShapeKey : ulong | ||
191 | { | ||
192 | KEY_BOX = 1, | ||
193 | KEY_SPHERE = 2, | ||
194 | KEY_CONE = 3, | ||
195 | KEY_CYLINDER = 4, | ||
196 | } | ||
162 | } | 197 | } |
163 | [StructLayout(LayoutKind.Sequential)] | 198 | [StructLayout(LayoutKind.Sequential)] |
164 | public struct SweepHit | 199 | public struct SweepHit |