1 files changed, 34 insertions, 169 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index e60a760..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;
@@ -32,93 +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, IntPtr xx)
-    {
-        ID = id;
-        ptr = xx;
-        collisionFilter = 0;
-        collisionMask = 0;
-    }
-    public IntPtr ptr;
-    public uint ID;
-    public CollisionFilterGroups collisionFilter;
-    public CollisionFilterGroups collisionMask;
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<id=");
-        buff.Append(ID.ToString());
-        buff.Append(",p=");
-        buff.Append(ptr.ToString("X"));
-        if (collisionFilter != 0 || collisionMask != 0)
-        {
-            buff.Append(",f=");
-            buff.Append(collisionFilter.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 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
 {
@@ -132,44 +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;
-}
-
-// 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
@@ -287,6 +163,8 @@ public struct ConfigurationParameters
     public float terrainFriction;
     public float terrainHitFraction;
     public float terrainRestitution;
+    public float terrainCollisionMargin;
+
     public float avatarFriction;
     public float avatarStandingFriction;
     public float avatarDensity;
@@ -296,6 +174,8 @@ public struct ConfigurationParameters
     public float avatarCapsuleHeight;
         public float avatarContactProcessingThreshold;
 
+    public float vehicleAngularDamping;
+
         public float maxPersistantManifoldPoolSize;
         public float maxCollisionAlgorithmPoolSize;
         public float shouldDisableContactPoolDynamicAllocation;
@@ -353,56 +233,35 @@ public enum CollisionFlags : uint
     CF_CHARACTER_OBJECT              = 1 << 4,
     CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
     CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
-    // Following used by BulletSim to control collisions
+    // Following used by BulletSim to control collisions and updates
     BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
     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.
-    BNoneFilter              = 0,
-    BDefaultFilter           = 1 << 0,
-    BStaticFilter            = 1 << 1,
-    BKinematicFilter         = 1 << 2,
-    BDebrisFilter            = 1 << 3,
-    BSensorTrigger           = 1 << 4,
-    BCharacterFilter         = 1 << 5,
-    BAllFilter               = 0xFFFFFFFF,
+    //   are more easily found and debugged.
+    BNoneGroup              = 0,
+    BDefaultGroup           = 1 << 0,
+    BStaticGroup            = 1 << 1,
+    BKinematicGroup         = 1 << 2,
+    BDebrisGroup            = 1 << 3,
+    BSensorTrigger          = 1 << 4,
+    BCharacterGroup         = 1 << 5,
+    BAllGroup               = 0xFFFFFFFF,
     // Filter groups defined by BulletSim
-    BGroundPlaneFilter       = 1 << 10,
-    BTerrainFilter           = 1 << 11,
-    BRaycastFilter           = 1 << 12,
-    BSolidFilter             = 1 << 13,
-    BLinksetFilter           = 1 << 14,
-
-    // The collsion filters and masked are defined in one place -- don't want them scattered
-    AvatarFilter            = BCharacterFilter,
-    AvatarMask              = BAllFilter,
-    ObjectFilter            = BSolidFilter,
-    ObjectMask              = BAllFilter,
-    StaticObjectFilter      = BStaticFilter,
-    StaticObjectMask        = BAllFilter & ~BStaticFilter,   // static objects don't collide with each other
-    LinksetFilter           = BLinksetFilter,
-    LinksetMask             = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other
-    VolumeDetectFilter      = BSensorTrigger,
-    VolumeDetectMask        = ~BSensorTrigger,
-    TerrainFilter           = BTerrainFilter,
-    TerrainMask             = BAllFilter & ~BStaticFilter,  // static objects on the ground don't collide
-    GroundPlaneFilter       = BGroundPlaneFilter,
-    GroundPlaneMask         = BAllFilter
-
+    BGroundPlaneGroup       = 1 << 10,
+    BTerrainGroup           = 1 << 11,
+    BRaycastGroup           = 1 << 12,
+    BSolidGroup             = 1 << 13,
+    // 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
@@ -429,7 +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);
@@ -482,6 +341,9 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData)
 public static extern bool IsNativeShape2(IntPtr shape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetShapeCollisionMargin(IntPtr shape, float margin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -938,7 +800,7 @@ public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
 public static extern int GetNumConstraintRefs2(IntPtr obj);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
+public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
 
 // =====================================================================================
 // btCollisionShape entries
@@ -1000,13 +862,16 @@ public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
 public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpAllInfo2(IntPtr sim);
+public static extern void DumpActivationInfo2(IntPtr sim);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
+public static extern void DumpAllInfo2(IntPtr sim);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpPhysicsStatistics2(IntPtr sim);