BulletSim: Add 'BulletSimData' which separates structures created

for the operation of BulletSim and those defintiions/structures defined
so they can be used in the unmanaged world.
Consolidate setting of collision flags so implementation is not scattered.

7 files changed, 308 insertions, 205 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index c8aad8d..0defb24 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -167,9 +167,8 @@ public sealed class BSCharacter : BSPhysObject
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Do this after the object has been added to the world
-        BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr,
-                        (uint)CollisionFilterGroups.AvatarGroup,
-                        (uint)CollisionFilterGroups.AvatarMask);
+        PhysBody.collisionType = CollisionType.Avatar;
+        PhysBody.ApplyCollisionMask();
     }
 
     public override void RequestPhysicsterseUpdate()
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 19c29cc..c9c9c2c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -661,14 +661,7 @@ public sealed class BSPrim : BSPhysObject
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Collision filter can be set only when the object is in the world
-        if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0)
-        {
-            if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask))
-            {
-                PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}",
-                                LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask);
-            }
-        }
+        PhysBody.ApplyCollisionMask();
 
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
@@ -713,11 +706,11 @@ public sealed class BSPrim : BSPhysObject
             // Start it out sleeping and physical actions could wake it up.
             BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
 
+            // This collides like a static object
+            PhysBody.collisionType = CollisionType.Static;
+
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
-
-            PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup;
-            PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
         }
         else
         {
@@ -755,16 +748,15 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
             BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
 
-            // There might be special things needed for implementing linksets.
-            Linkset.MakeDynamic(this);
+            // This collides like an object.
+            PhysBody.collisionType = CollisionType.Dynamic;
 
             // Force activation of the object so Bullet will act on it.
             // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
             BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
-            // BulletSimAPI.Activate2(BSBody.ptr, true);
 
-            PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup;
-            PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
+            // There might be special things needed for implementing linksets.
+            Linkset.MakeDynamic(this);
         }
     }
 
@@ -791,8 +783,9 @@ public sealed class BSPrim : BSPhysObject
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
             CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup;
-            PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
+
+            // Change collision info from a static object to a ghosty collision object
+            PhysBody.collisionType = CollisionType.VolumeDetect;
         }
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 2d379bb..2b120d6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -121,9 +121,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         // redo its bounding box now that it is in the world
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
 
-        BulletSimAPI.SetCollisionGroupMask2(m_mapInfo.terrainBody.ptr,
-                            (uint)CollisionFilterGroups.TerrainGroup,
-                            (uint)CollisionFilterGroups.TerrainMask);
+        m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
+        m_mapInfo.terrainBody.ApplyCollisionMask();
 
         // Make it so the terrain will not move or be considered for movement.
         BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index c28d69d..5dbd8ce 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -140,8 +140,8 @@ public sealed class BSTerrainManager
         // Ground plane does not move
         BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
         // Everything collides with the ground plane.
-        BulletSimAPI.SetCollisionGroupMask2(m_groundPlane.ptr,
-                        (uint)CollisionFilterGroups.GroundPlaneGroup, (uint)CollisionFilterGroups.GroundPlaneMask);
+        m_groundPlane.collisionType = CollisionType.Groundplane;
+        m_groundPlane.ApplyCollisionMask();
 
         // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
         BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index 3473006..6dc0d92 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -130,9 +130,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         // Redo its bounding box now that it is in the world
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
 
-        BulletSimAPI.SetCollisionGroupMask2(m_terrainBody.ptr,
-                            (uint)CollisionFilterGroups.TerrainGroup,
-                            (uint)CollisionFilterGroups.TerrainMask);
+        m_terrainBody.collisionType = CollisionType.Terrain;
+        m_terrainBody.ApplyCollisionMask();
 
         // Make it so the terrain will not move or be considered for movement.
         BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 1559025..962b540 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -25,6 +25,7 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 using System;
+using System.Collections.Generic;
 using System.Runtime.InteropServices;
 using System.Security;
 using System.Text;
@@ -32,110 +33,6 @@ using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.BulletSPlugin {
 
-// Classes to allow some type checking for the API
-// These hold pointers to allocated objects in the unmanaged space.
-
-// The physics engine controller class created at initialization
-public struct BulletSim
-{
-    public BulletSim(uint worldId, BSScene bss, IntPtr xx)
-    {
-        ptr = xx;
-        worldID = worldId;
-        physicsScene = bss;
-    }
-    public IntPtr ptr;
-    public uint worldID;
-    // The scene is only in here so very low level routines have a handle to print debug/error messages
-    public BSScene physicsScene;
-}
-
-// An allocated Bullet btRigidBody
-public struct BulletBody
-{
-    public BulletBody(uint id) : this(id, IntPtr.Zero)
-    {
-    }
-    public BulletBody(uint id, IntPtr xx)
-    {
-        ID = id;
-        ptr = xx;
-        collisionGroup = 0;
-        collisionMask = 0;
-    }
-    public IntPtr ptr;
-    public uint ID;
-    public CollisionFilterGroups collisionGroup;
-    public CollisionFilterGroups collisionMask;
-
-    public void Clear()
-    {
-        ptr = IntPtr.Zero;
-    }
-    public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }
-
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<id=");
-        buff.Append(ID.ToString());
-        buff.Append(",p=");
-        buff.Append(ptr.ToString("X"));
-        if (collisionGroup != 0 || collisionMask != 0)
-        {
-            buff.Append(",g=");
-            buff.Append(collisionGroup.ToString("X"));
-            buff.Append(",m=");
-            buff.Append(collisionMask.ToString("X"));
-        }
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-public struct BulletShape
-{
-    public BulletShape(IntPtr xx)
-    {
-        ptr = xx;
-        type=BSPhysicsShapeType.SHAPE_UNKNOWN;
-        shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
-        isNativeShape = false;
-    }
-    public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
-    {
-        ptr = xx;
-        type = typ;
-        shapeKey = 0;
-        isNativeShape = false;
-    }
-    public IntPtr ptr;
-    public BSPhysicsShapeType type;
-    public System.UInt64 shapeKey;
-    public bool isNativeShape;
-
-    public void Clear()
-    {
-        ptr = IntPtr.Zero;
-    }
-    public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }
-
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(ptr.ToString("X"));
-        buff.Append(",s=");
-        buff.Append(type.ToString());
-        buff.Append(",k=");
-        buff.Append(shapeKey.ToString("X"));
-        buff.Append(",n=");
-        buff.Append(isNativeShape.ToString());
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
     // Constraint type values as defined by Bullet
 public enum ConstraintType : int
 {
@@ -149,50 +46,6 @@ public enum ConstraintType : int
         MAX_CONSTRAINT_TYPE
 }
 
-// An allocated Bullet btConstraint
-public struct BulletConstraint
-{
-    public BulletConstraint(IntPtr xx)
-    {
-        ptr = xx;
-    }
-    public IntPtr ptr;
-
-    public void Clear()
-    {
-        ptr = IntPtr.Zero;
-    }
-    public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
-}
-
-// An allocated HeightMapThing which holds various heightmap info.
-// Made a class rather than a struct so there would be only one
-//      instance of this and C# will pass around pointers rather
-//      than making copies.
-public class BulletHeightMapInfo
-{
-    public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
-        ID = id;
-        Ptr = xx;
-        heightMap = hm;
-        terrainRegionBase = Vector3.Zero;
-        minCoords = new Vector3(100f, 100f, 25f);
-        maxCoords = new Vector3(101f, 101f, 26f);
-        minZ = maxZ = 0f;
-        sizeX = sizeY = 256f;
-    }
-    public uint ID;
-    public IntPtr Ptr;
-    public float[] heightMap;
-    public Vector3 terrainRegionBase;
-    public Vector3 minCoords;
-    public Vector3 maxCoords;
-    public float sizeX, sizeY;
-    public float minZ, maxZ;
-    public BulletShape terrainShape;
-    public BulletBody terrainBody;
-}
-
 // ===============================================================================
 [StructLayout(LayoutKind.Sequential)]
 public struct ConvexHull
@@ -385,21 +238,15 @@ public enum CollisionFlags : uint
     BS_FLOATS_ON_WATER               = 1 << 11,
     BS_VEHICLE_COLLISIONS            = 1 << 12,
     BS_NONE                          = 0,
-    BS_ALL                           = 0xFFFFFFFF,
-
-    // These are the collision flags switched depending on physical state.
-    // The other flags are used for other things and should not be fooled with.
-    BS_ACTIVE = CF_STATIC_OBJECT
-                | CF_KINEMATIC_OBJECT
-                | CF_NO_CONTACT_RESPONSE
+    BS_ALL                           = 0xFFFFFFFF
 };
 
-// Values for collisions groups and masks
+// Values f collisions groups and masks
 public enum CollisionFilterGroups : uint
 {
     // Don't use the bit definitions!!  Define the use in a
     //   filter/mask definition below. This way collision interactions
-    //   are more easily debugged.
+    //   are more easily found and debugged.
     BNoneGroup              = 0,
     BDefaultGroup           = 1 << 0,
     BStaticGroup            = 1 << 1,
@@ -413,24 +260,8 @@ public enum CollisionFilterGroups : uint
     BTerrainGroup           = 1 << 11,
     BRaycastGroup           = 1 << 12,
     BSolidGroup             = 1 << 13,
-    BLinksetGroup           = 1 << 14,
-
-    // The collsion filters and masked are defined in one place -- don't want them scattered
-    AvatarGroup             = BCharacterGroup,
-    AvatarMask              = BAllGroup,
-    ObjectGroup             = BSolidGroup,
-    ObjectMask              = BAllGroup,
-    StaticObjectGroup       = BStaticGroup,
-    StaticObjectMask        = AvatarGroup | ObjectGroup,    // static things don't interact with much
-    LinksetGroup            = BLinksetGroup,
-    LinksetMask             = BAllGroup & ~BLinksetGroup, // linkset objects don't collide with each other
-    VolumeDetectGroup       = BSensorTrigger,
-    VolumeDetectMask        = ~BSensorTrigger,
-    TerrainGroup            = BTerrainGroup,
-    TerrainMask             = BAllGroup & ~BStaticGroup,  // static objects on the ground don't collide
-    GroundPlaneGroup        = BGroundPlaneGroup,
-    GroundPlaneMask         = BAllGroup
-
+    // BLinksetGroup        = xx  // a linkset proper is either static or dynamic
+    BLinksetChildGroup      = 1 << 14,
 };
 
 // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
@@ -457,7 +288,7 @@ public enum ConstraintParamAxis : int
 
 // ===============================================================================
 static class BulletSimAPI {
-
+// ===============================================================================
 // Link back to the managed code for outputting log messages
 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
 public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
new file mode 100755
index 0000000..e5c4777
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -0,0 +1,282 @@
+/*

+ * 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.Text;

+using OMV = OpenMetaverse;

+

+namespace OpenSim.Region.Physics.BulletSPlugin

+{

+// Classes to allow some type checking for the API

+// These hold pointers to allocated objects in the unmanaged space.

+

+// The physics engine controller class created at initialization

+public struct BulletSim

+{

+    public BulletSim(uint worldId, BSScene bss, IntPtr xx)

+    {

+        ptr = xx;

+        worldID = worldId;

+        physicsScene = bss;

+    }

+    public IntPtr ptr;

+    public uint worldID;

+    // The scene is only in here so very low level routines have a handle to print debug/error messages

+    public BSScene physicsScene;

+}

+

+// An allocated Bullet btRigidBody

+public struct BulletBody

+{

+    public BulletBody(uint id) : this(id, IntPtr.Zero)

+    {

+    }

+    public BulletBody(uint id, IntPtr xx)

+    {

+        ID = id;

+        ptr = xx;

+        collisionType = CollisionType.Static;

+    }

+    public IntPtr ptr;

+    public uint ID;

+    public CollisionType collisionType;

+

+    public void Clear()

+    {

+        ptr = IntPtr.Zero;

+    }

+    public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }

+

+    // Apply the specificed collision mask into the physical world

+    public void ApplyCollisionMask()

+    {

+        // Should assert the body has been added to the physical world.

+        // (The collision masks are stored in the collision proxy cache which only exists for

+        //    a collision body that is in the world.)

+        BulletSimAPI.SetCollisionGroupMask2(ptr,

+                                BulletSimData.CollisionTypeMasks[collisionType].group,

+                                BulletSimData.CollisionTypeMasks[collisionType].mask);

+    }

+

+    public override string ToString()

+    {

+        StringBuilder buff = new StringBuilder();

+        buff.Append("<id=");

+        buff.Append(ID.ToString());

+        buff.Append(",p=");

+        buff.Append(ptr.ToString("X"));

+        buff.Append(",c=");

+        buff.Append(collisionType);

+        buff.Append(">");

+        return buff.ToString();

+    }

+}

+

+public struct BulletShape

+{

+    public BulletShape(IntPtr xx)

+    {

+        ptr = xx;

+        type=BSPhysicsShapeType.SHAPE_UNKNOWN;

+        shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;

+        isNativeShape = false;

+    }

+    public BulletShape(IntPtr xx, BSPhysicsShapeType typ)

+    {

+        ptr = xx;

+        type = typ;

+        shapeKey = 0;

+        isNativeShape = false;

+    }

+    public IntPtr ptr;

+    public BSPhysicsShapeType type;

+    public System.UInt64 shapeKey;

+    public bool isNativeShape;

+

+    public void Clear()

+    {

+        ptr = IntPtr.Zero;

+    }

+    public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }

+

+    public override string ToString()

+    {

+        StringBuilder buff = new StringBuilder();

+        buff.Append("<p=");

+        buff.Append(ptr.ToString("X"));

+        buff.Append(",s=");

+        buff.Append(type.ToString());

+        buff.Append(",k=");

+        buff.Append(shapeKey.ToString("X"));

+        buff.Append(",n=");

+        buff.Append(isNativeShape.ToString());

+        buff.Append(">");

+        return buff.ToString();

+    }

+}

+

+// An allocated Bullet btConstraint

+public struct BulletConstraint

+{

+    public BulletConstraint(IntPtr xx)

+    {

+        ptr = xx;

+    }

+    public IntPtr ptr;

+

+    public void Clear()

+    {

+        ptr = IntPtr.Zero;

+    }

+    public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }

+}

+

+// An allocated HeightMapThing which holds various heightmap info.

+// Made a class rather than a struct so there would be only one

+//      instance of this and C# will pass around pointers rather

+//      than making copies.

+public class BulletHeightMapInfo

+{

+    public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {

+        ID = id;

+        Ptr = xx;

+        heightMap = hm;

+        terrainRegionBase = OMV.Vector3.Zero;

+        minCoords = new OMV.Vector3(100f, 100f, 25f);

+        maxCoords = new OMV.Vector3(101f, 101f, 26f);

+        minZ = maxZ = 0f;

+        sizeX = sizeY = 256f;

+    }

+    public uint ID;

+    public IntPtr Ptr;

+    public float[] heightMap;

+    public OMV.Vector3 terrainRegionBase;

+    public OMV.Vector3 minCoords;

+    public OMV.Vector3 maxCoords;

+    public float sizeX, sizeY;

+    public float minZ, maxZ;

+    public BulletShape terrainShape;

+    public BulletBody terrainBody;

+}

+

+// The general class of collsion object.

+public enum CollisionType

+{

+    Avatar,

+    Groundplane,

+    Terrain,

+    Static,

+    Dynamic,

+    VolumeDetect,

+    // Linkset, // A linkset proper should be either Static or Dynamic

+    LinksetChild,

+    Unknown

+};

+

+// Hold specification of group and mask collision flags for a CollisionType

+public struct CollisionTypeFilterGroup

+{

+    public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)

+    {

+        type = t;

+        group = g;

+        mask = m;

+    }

+    public CollisionType type;

+    public uint group;

+    public uint mask;

+};

+

+    /*

+    // The collsion filters and masked are defined in one place -- don't want them scattered

+    AvatarGroup             = BCharacterGroup,

+    AvatarMask              = BAllGroup,

+    ObjectGroup             = BSolidGroup,

+    ObjectMask              = BAllGroup,

+    StaticObjectGroup       = BStaticGroup,

+    StaticObjectMask        = AvatarGroup | ObjectGroup,    // static things don't interact with much

+    LinksetGroup            = BLinksetGroup,

+    LinksetMask             = BAllGroup,

+    LinksetChildGroup       = BLinksetChildGroup,

+    LinksetChildMask        = BNoneGroup,   // Linkset children disappear from the world

+    VolumeDetectGroup       = BSensorTrigger,

+    VolumeDetectMask        = ~BSensorTrigger,

+    TerrainGroup            = BTerrainGroup,

+    TerrainMask             = BAllGroup & ~BStaticGroup,  // static objects on the ground don't collide

+    GroundPlaneGroup        = BGroundPlaneGroup,

+    GroundPlaneMask         = BAllGroup

+    */

+

+public static class BulletSimData

+{

+

+// Map of collisionTypes to flags for collision groups and masks.

+// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code

+//     but, instead, user references to this dictionary. This makes finding and debugging

+//     collision flag usage easier.

+public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks 

+            = new Dictionary<CollisionType, CollisionTypeFilterGroup>()

+{

+    { CollisionType.Avatar, 

+                new CollisionTypeFilterGroup(CollisionType.Avatar, 

+                                (uint)CollisionFilterGroups.BCharacterGroup, 

+                                (uint)CollisionFilterGroups.BAllGroup)

+    },

+    { CollisionType.Groundplane, 

+                new CollisionTypeFilterGroup(CollisionType.Groundplane, 

+                                (uint)CollisionFilterGroups.BGroundPlaneGroup, 

+                                (uint)CollisionFilterGroups.BAllGroup)

+    },

+    { CollisionType.Terrain, 

+                new CollisionTypeFilterGroup(CollisionType.Terrain, 

+                                (uint)CollisionFilterGroups.BTerrainGroup, 

+                                (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))

+    },

+    { CollisionType.Static, 

+                new CollisionTypeFilterGroup(CollisionType.Static, 

+                                (uint)CollisionFilterGroups.BStaticGroup, 

+                                (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))

+    },

+    { CollisionType.Dynamic, 

+                new CollisionTypeFilterGroup(CollisionType.Dynamic, 

+                                (uint)CollisionFilterGroups.BSolidGroup, 

+                                (uint)(CollisionFilterGroups.BAllGroup))

+    },

+    { CollisionType.VolumeDetect, 

+                new CollisionTypeFilterGroup(CollisionType.VolumeDetect, 

+                                (uint)CollisionFilterGroups.BSensorTrigger, 

+                                (uint)(~CollisionFilterGroups.BSensorTrigger))

+    },

+    { CollisionType.LinksetChild,

+                new CollisionTypeFilterGroup(CollisionType.LinksetChild, 

+                                (uint)CollisionFilterGroups.BTerrainGroup, 

+                                (uint)(CollisionFilterGroups.BNoneGroup))

+    },

+};

+

+}

+}