BulletSim: eliminate the use of the unmanaged HeightMapInfo structure.

Remove all related calls from the unmanaged and BSAPITemplate interfaces.
Update DLLs and SOs to include the version without HeightMapInfo structures.

4 files changed, 20 insertions, 42 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 0355b94..cf37e56 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -108,10 +108,6 @@ private void BulletLoggerPhysLog(string msg)
     PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
 }
 
-    /*
-public void SetHeightMap(BulletWorld world, float[] heightmap);
-
-     */
 public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
                         out int updatedEntityCount, out int collidersCount)
 {
@@ -277,6 +273,7 @@ public override void DestroyObject(BulletWorld sim, BulletBody obj)
 
 // =====================================================================================
 // Terrain creation and helper routines
+    /*
 public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
         float[] heightMap, float collisionMargin)
 {
@@ -293,15 +290,18 @@ public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo)
 {
     return BSAPICPP.ReleaseHeightMapInfo2(heightMapInfo);
 }
+     */
 
 public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
 {
     return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
 }
 
-public override BulletShape CreateTerrainShape(IntPtr mapInfo)
+public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
+                                float scaleFactor, float collisionMargin)
 {
-    return new BulletShape(BSAPICPP.CreateTerrainShape2(mapInfo), BSPhysicsShapeType.SHAPE_TERRAIN);
+    return new BulletShape(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
+                                                BSPhysicsShapeType.SHAPE_TERRAIN);
 }
 
 // =====================================================================================
@@ -977,11 +977,6 @@ public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionSh
     BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr);
 }
 
-public override void DumpMapInfo(BulletWorld sim, BulletHMapInfo mapInfo)
-{
-    BSAPICPP.DumpMapInfo2(sim.ptr, mapInfo.ptr);
-}
-
 public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
 {
     BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr);
@@ -1025,9 +1020,6 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
                                             DebugLogCallback logRoutine);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
                         out int updatedEntityCount, out int collidersCount);
 
@@ -1119,6 +1111,7 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
 
 // =====================================================================================
 // Terrain creation and helper routines
+    /*
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
         [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
@@ -1129,12 +1122,15 @@ public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
+    */
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
+public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, 
+                                            [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
+                                            float scaleFactor, float collisionMargin);
 
 // =====================================================================================
 // Constraint creation and helper routines
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index 64a886b..a618a21 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -302,10 +302,6 @@ public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet
                                                                                         int maxUpdates, ref EntityProperties[] updateArray
                                             );
 
-    /*
-public abstract void SetHeightMap(BulletWorld world, float[] heightmap);
-
-     */
 public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
                         out int updatedEntityCount, out int collidersCount);
 
@@ -369,18 +365,10 @@ public abstract void ReleaseBodyInfo(IntPtr obj);
 public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
 
 // =====================================================================================
-// Terrain creation and helper routines
-public abstract IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
-        float[] heightMap, float collisionMargin);
-
-public abstract IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
-        float[] heightMap, float collisionMargin);
-
-public abstract bool ReleaseHeightMapInfo(IntPtr heightMapInfo);
-
 public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin);
 
-public abstract BulletShape CreateTerrainShape(IntPtr mapInfo);
+public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 

+                                                                float scaleFactor, float collisionMargin);
 
 // =====================================================================================
 // Constraint creation and helper routines
@@ -667,8 +655,6 @@ public abstract void DumpRigidBody(BulletWorld sim, BulletBody collisionObject);
 
 public abstract void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape);
 
-public abstract void DumpMapInfo(BulletWorld sim, BulletHMapInfo mapInfo);
-
 public abstract void DumpConstraint(BulletWorld sim, BulletConstraint constrain);
 
 public abstract void DumpActivationInfo(BulletWorld sim);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 0802b3a..114c0aa 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -58,7 +58,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         {
             initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
         }
-        m_mapInfo = new BulletHMapInfo(id, initialMap, IntPtr.Zero);
+        m_mapInfo = new BulletHMapInfo(id, initialMap);
         m_mapInfo.minCoords = minTerrainCoords;
         m_mapInfo.maxCoords = maxTerrainCoords;
         m_mapInfo.terrainRegionBase = TerrainBase;
@@ -72,7 +72,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
                                                     Vector3 minCoords, Vector3 maxCoords)
         : base(physicsScene, regionBase, id)
     {
-        m_mapInfo = new BulletHMapInfo(id, initialMap, IntPtr.Zero);
+        m_mapInfo = new BulletHMapInfo(id, initialMap);
         m_mapInfo.minCoords = minCoords;
         m_mapInfo.maxCoords = maxCoords;
         m_mapInfo.minZ = minCoords.Z;
@@ -91,12 +91,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     // Using the information in m_mapInfo, create the physical representation of the heightmap.
     private void BuildHeightmapTerrain()
     {
-        m_mapInfo.ptr = PhysicsScene.PE.CreateHeightMapInfo(PhysicsScene.World, m_mapInfo.ID,
-                                m_mapInfo.minCoords, m_mapInfo.maxCoords, 
-                                m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
-
         // Create the terrain shape from the mapInfo
-        m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape(m_mapInfo.ptr);
+        m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID, 

+                                new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,

+                                m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin);
+
 
         // The terrain object initial position is at the center of the object
         Vector3 centerPos;
@@ -138,7 +137,6 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
                 PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody);
                 // Frees both the body and the shape.
                 PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody);
-                PhysicsScene.PE.ReleaseHeightMapInfo(m_mapInfo.ptr);
             }
         }
         m_mapInfo = null;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
index c8f4602..681d21e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -189,9 +189,8 @@ public class BulletConstraint
 //      than making copies.
 public class BulletHMapInfo
 {
-    public BulletHMapInfo(uint id, float[] hm, IntPtr xx) {
+    public BulletHMapInfo(uint id, float[] hm) {
         ID = id;
-        ptr = xx;
         heightMap = hm;
         terrainRegionBase = OMV.Vector3.Zero;
         minCoords = new OMV.Vector3(100f, 100f, 25f);
@@ -200,7 +199,6 @@ public class BulletHMapInfo
         sizeX = sizeY = 256f;
     }
     public uint ID;
-    public IntPtr ptr;
     public float[] heightMap;
     public OMV.Vector3 terrainRegionBase;
     public OMV.Vector3 minCoords;