BulletSim initial checkin

1 files changed, 171 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs
new file mode 100644
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+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs
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+/* The MIT License
+ * 
+ * Copyright (c) 2010 Intel Corporation.
+ * All rights reserved.
+ *
+ * Based on the convexdecomposition library from 
+ * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+using System;
+using System.Collections.Generic;
+
+namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
+{
+    public class HullResult
+    {
+        public bool Polygons = true; // true if indices represents polygons, false indices are triangles
+        public List<float3> OutputVertices = new List<float3>();
+        public List<int> Indices;
+
+        // If triangles, then indices are array indexes into the vertex list.
+        // If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
+    }
+
+    public class PHullResult
+    {
+        public List<float3> Vertices = new List<float3>();
+        public List<int> Indices = new List<int>();
+    }
+
+    [Flags]
+    public enum HullFlag : int
+    {
+        QF_DEFAULT = 0,
+        QF_TRIANGLES = (1 << 0), // report results as triangles, not polygons.
+        QF_SKIN_WIDTH = (1 << 2) // extrude hull based on this skin width
+    }
+
+    public enum HullError : int
+    {
+        QE_OK, // success!
+        QE_FAIL // failed.
+    }
+
+    public class HullDesc
+    {
+        public HullFlag Flags; // flags to use when generating the convex hull.
+        public List<float3> Vertices;
+        public float NormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on.
+        public float SkinWidth;
+        public uint MaxVertices; // maximum number of vertices to be considered for the hull!
+        public uint MaxFaces;
+
+        public HullDesc()
+        {
+            Flags = HullFlag.QF_DEFAULT;
+            Vertices = new List<float3>();
+            NormalEpsilon = 0.001f;
+            MaxVertices = 4096;
+            MaxFaces = 4096;
+            SkinWidth = 0.01f;
+        }
+
+        public HullDesc(HullFlag flags, List<float3> vertices)
+        {
+            Flags = flags;
+            Vertices = new List<float3>(vertices);
+            NormalEpsilon = 0.001f;
+            MaxVertices = 4096;
+            MaxFaces = 4096;
+            SkinWidth = 0.01f;
+        }
+
+        public bool HasHullFlag(HullFlag flag)
+        {
+            return (Flags & flag) != 0;
+        }
+
+        public void SetHullFlag(HullFlag flag)
+        {
+            Flags |= flag;
+        }
+
+        public void ClearHullFlag(HullFlag flag)
+        {
+            Flags &= ~flag;
+        }
+    }
+
+    public class ConvexH
+    {
+        public struct HalfEdge
+        {
+            public short ea; // the other half of the edge (index into edges list)
+            public byte v; // the vertex at the start of this edge (index into vertices list)
+            public byte p; // the facet on which this edge lies (index into facets list)
+
+            public HalfEdge(short _ea, byte _v, byte _p)
+            {
+                ea = _ea;
+                v = _v;
+                p = _p;
+            }
+
+            public HalfEdge(HalfEdge e)
+            {
+                ea = e.ea;
+                v = e.v;
+                p = e.p;
+            }
+        }
+
+        public List<float3> vertices = new List<float3>();
+        public List<HalfEdge> edges = new List<HalfEdge>();
+        public List<Plane> facets = new List<Plane>();
+
+        public ConvexH(int vertices_size, int edges_size, int facets_size)
+        {
+            vertices = new List<float3>(vertices_size);
+            edges = new List<HalfEdge>(edges_size);
+            facets = new List<Plane>(facets_size);
+        }
+    }
+
+    public class VertFlag
+    {
+        public byte planetest;
+        public byte junk;
+        public byte undermap;
+        public byte overmap;
+    }
+
+    public class EdgeFlag
+    {
+        public byte planetest;
+        public byte fixes;
+        public short undermap;
+        public short overmap;
+    }
+
+    public class PlaneFlag
+    {
+        public byte undermap;
+        public byte overmap;
+    }
+
+    public class Coplanar
+    {
+        public ushort ea;
+        public byte v0;
+        public byte v1;
+    }
+}