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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs278
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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using OMV = OpenMetaverse;
31
32namespace OpenSim.Region.Physics.BulletSPlugin
33{
34// Classes to allow some type checking for the API
35// These hold pointers to allocated objects in the unmanaged space.
36
37// The physics engine controller class created at initialization
38public struct BulletSim
39{
40 public BulletSim(uint worldId, BSScene bss, IntPtr xx)
41 {
42 ptr = xx;
43 worldID = worldId;
44 physicsScene = bss;
45 }
46 public IntPtr ptr;
47 public uint worldID;
48 // The scene is only in here so very low level routines have a handle to print debug/error messages
49 public BSScene physicsScene;
50}
51
52// An allocated Bullet btRigidBody
53public struct BulletBody
54{
55 public BulletBody(uint id) : this(id, IntPtr.Zero)
56 {
57 }
58 public BulletBody(uint id, IntPtr xx)
59 {
60 ID = id;
61 ptr = xx;
62 collisionType = CollisionType.Static;
63 }
64 public IntPtr ptr;
65 public uint ID;
66 public CollisionType collisionType;
67
68 public void Clear()
69 {
70 ptr = IntPtr.Zero;
71 }
72 public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }
73
74 // Apply the specificed collision mask into the physical world
75 public void ApplyCollisionMask()
76 {
77 // Should assert the body has been added to the physical world.
78 // (The collision masks are stored in the collision proxy cache which only exists for
79 // a collision body that is in the world.)
80 BulletSimAPI.SetCollisionGroupMask2(ptr,
81 BulletSimData.CollisionTypeMasks[collisionType].group,
82 BulletSimData.CollisionTypeMasks[collisionType].mask);
83 }
84
85 public override string ToString()
86 {
87 StringBuilder buff = new StringBuilder();
88 buff.Append("<id=");
89 buff.Append(ID.ToString());
90 buff.Append(",p=");
91 buff.Append(ptr.ToString("X"));
92 buff.Append(",c=");
93 buff.Append(collisionType);
94 buff.Append(">");
95 return buff.ToString();
96 }
97}
98
99public struct BulletShape
100{
101 public BulletShape(IntPtr xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN)
102 {
103 }
104 public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
105 {
106 ptr = xx;
107 type = typ;
108 shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
109 isNativeShape = false;
110 }
111 public IntPtr ptr;
112 public BSPhysicsShapeType type;
113 public System.UInt64 shapeKey;
114 public bool isNativeShape;
115
116 public void Clear()
117 {
118 ptr = IntPtr.Zero;
119 }
120 public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }
121
122 public override string ToString()
123 {
124 StringBuilder buff = new StringBuilder();
125 buff.Append("<p=");
126 buff.Append(ptr.ToString("X"));
127 buff.Append(",s=");
128 buff.Append(type.ToString());
129 buff.Append(",k=");
130 buff.Append(shapeKey.ToString("X"));
131 buff.Append(",n=");
132 buff.Append(isNativeShape.ToString());
133 buff.Append(">");
134 return buff.ToString();
135 }
136}
137
138// An allocated Bullet btConstraint
139public struct BulletConstraint
140{
141 public BulletConstraint(IntPtr xx)
142 {
143 ptr = xx;
144 }
145 public IntPtr ptr;
146
147 public void Clear()
148 {
149 ptr = IntPtr.Zero;
150 }
151 public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
152}
153
154// An allocated HeightMapThing which holds various heightmap info.
155// Made a class rather than a struct so there would be only one
156// instance of this and C# will pass around pointers rather
157// than making copies.
158public class BulletHeightMapInfo
159{
160 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
161 ID = id;
162 Ptr = xx;
163 heightMap = hm;
164 terrainRegionBase = OMV.Vector3.Zero;
165 minCoords = new OMV.Vector3(100f, 100f, 25f);
166 maxCoords = new OMV.Vector3(101f, 101f, 26f);
167 minZ = maxZ = 0f;
168 sizeX = sizeY = 256f;
169 }
170 public uint ID;
171 public IntPtr Ptr;
172 public float[] heightMap;
173 public OMV.Vector3 terrainRegionBase;
174 public OMV.Vector3 minCoords;
175 public OMV.Vector3 maxCoords;
176 public float sizeX, sizeY;
177 public float minZ, maxZ;
178 public BulletShape terrainShape;
179 public BulletBody terrainBody;
180}
181
182// The general class of collsion object.
183public enum CollisionType
184{
185 Avatar,
186 Groundplane,
187 Terrain,
188 Static,
189 Dynamic,
190 VolumeDetect,
191 // Linkset, // A linkset should be either Static or Dynamic
192 LinksetChild,
193 Unknown
194};
195
196// Hold specification of group and mask collision flags for a CollisionType
197public struct CollisionTypeFilterGroup
198{
199 public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
200 {
201 type = t;
202 group = g;
203 mask = m;
204 }
205 public CollisionType type;
206 public uint group;
207 public uint mask;
208};
209
210 /* NOTE: old definitions kept for reference. Delete when things are working.
211 // The collsion filters and masked are defined in one place -- don't want them scattered
212 AvatarGroup = BCharacterGroup,
213 AvatarMask = BAllGroup,
214 ObjectGroup = BSolidGroup,
215 ObjectMask = BAllGroup,
216 StaticObjectGroup = BStaticGroup,
217 StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
218 LinksetGroup = BLinksetGroup,
219 LinksetMask = BAllGroup,
220 LinksetChildGroup = BLinksetChildGroup,
221 LinksetChildMask = BNoneGroup, // Linkset children disappear from the world
222 VolumeDetectGroup = BSensorTrigger,
223 VolumeDetectMask = ~BSensorTrigger,
224 TerrainGroup = BTerrainGroup,
225 TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
226 GroundPlaneGroup = BGroundPlaneGroup,
227 GroundPlaneMask = BAllGroup
228 */
229
230public static class BulletSimData
231{
232
233// Map of collisionTypes to flags for collision groups and masks.
234// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
235// but, instead, use references to this dictionary. Finding and debugging
236// collision flag problems will be made easier.
237public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
238 = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
239{
240 { CollisionType.Avatar,
241 new CollisionTypeFilterGroup(CollisionType.Avatar,
242 (uint)CollisionFilterGroups.BCharacterGroup,
243 (uint)CollisionFilterGroups.BAllGroup)
244 },
245 { CollisionType.Groundplane,
246 new CollisionTypeFilterGroup(CollisionType.Groundplane,
247 (uint)CollisionFilterGroups.BGroundPlaneGroup,
248 (uint)CollisionFilterGroups.BAllGroup)
249 },
250 { CollisionType.Terrain,
251 new CollisionTypeFilterGroup(CollisionType.Terrain,
252 (uint)CollisionFilterGroups.BTerrainGroup,
253 (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
254 },
255 { CollisionType.Static,
256 new CollisionTypeFilterGroup(CollisionType.Static,
257 (uint)CollisionFilterGroups.BStaticGroup,
258 (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
259 },
260 { CollisionType.Dynamic,
261 new CollisionTypeFilterGroup(CollisionType.Dynamic,
262 (uint)CollisionFilterGroups.BSolidGroup,
263 (uint)(CollisionFilterGroups.BAllGroup))
264 },
265 { CollisionType.VolumeDetect,
266 new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
267 (uint)CollisionFilterGroups.BSensorTrigger,
268 (uint)(~CollisionFilterGroups.BSensorTrigger))
269 },
270 { CollisionType.LinksetChild,
271 new CollisionTypeFilterGroup(CollisionType.LinksetChild,
272 (uint)CollisionFilterGroups.BTerrainGroup,
273 (uint)(CollisionFilterGroups.BNoneGroup))
274 },
275};
276
277}
278}
generated by cgit v1.1 at 2024-12-19 14:02:55 +0000