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-rwxr-xr-x[-rw-r--r--]OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs (renamed from OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs)1257
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs39
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs662
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs86
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs21
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs40
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs10
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs26
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs27
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs42
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSParam.cs18
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs9
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs125
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs127
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs87
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapes.cs21
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs42
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs23
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs28
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs56
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt21
21 files changed, 1886 insertions, 881 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index b361498..3975776 100644..100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -26,664 +26,954 @@
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Reflection;
29using System.Runtime.InteropServices; 30using System.Runtime.InteropServices;
30using System.Security; 31using System.Security;
31using System.Text; 32using System.Text;
33
32using OpenMetaverse; 34using OpenMetaverse;
33 35
34namespace OpenSim.Region.Physics.BulletSPlugin { 36namespace OpenSim.Region.Physics.BulletSPlugin
37{
38public sealed class BSAPIUnman : BSAPITemplate
39{
40
41// We pin the memory passed between the managed and unmanaged code.
42GCHandle m_paramsHandle;
43private GCHandle m_collisionArrayPinnedHandle;
44private GCHandle m_updateArrayPinnedHandle;
45
46// Handle to the callback used by the unmanaged code to call into the managed code.
47// Used for debug logging.
48// Need to store the handle in a persistant variable so it won't be freed.
49private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle;
50
51private BSScene PhysicsScene { get; set; }
52
53public override string BulletEngineName { get { return "BulletUnmanaged"; } }
54public override string BulletEngineVersion { get; protected set; }
35 55
36 // Constraint type values as defined by Bullet 56public BSAPIUnman(string paramName, BSScene physScene)
37public enum ConstraintType : int
38{ 57{
39 POINT2POINT_CONSTRAINT_TYPE = 3, 58 PhysicsScene = physScene;
40 HINGE_CONSTRAINT_TYPE, 59 // Do something fancy with the paramName to get the right DLL implementation
41 CONETWIST_CONSTRAINT_TYPE, 60 // like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
42 D6_CONSTRAINT_TYPE,
43 SLIDER_CONSTRAINT_TYPE,
44 CONTACT_CONSTRAINT_TYPE,
45 D6_SPRING_CONSTRAINT_TYPE,
46 MAX_CONSTRAINT_TYPE
47} 61}
48 62
49// ===============================================================================
50[StructLayout(LayoutKind.Sequential)]
51public struct ConvexHull
52{
53 Vector3 Offset;
54 int VertexCount;
55 Vector3[] Vertices;
56}
57public enum BSPhysicsShapeType
58{
59 SHAPE_UNKNOWN = 0,
60 SHAPE_CAPSULE = 1,
61 SHAPE_BOX = 2,
62 SHAPE_CONE = 3,
63 SHAPE_CYLINDER = 4,
64 SHAPE_SPHERE = 5,
65 SHAPE_MESH = 6,
66 SHAPE_HULL = 7,
67 // following defined by BulletSim
68 SHAPE_GROUNDPLANE = 20,
69 SHAPE_TERRAIN = 21,
70 SHAPE_COMPOUND = 22,
71 SHAPE_HEIGHTMAP = 23,
72 SHAPE_AVATAR = 24,
73};
74
75// The native shapes have predefined shape hash keys
76public enum FixedShapeKey : ulong
77{
78 KEY_NONE = 0,
79 KEY_BOX = 1,
80 KEY_SPHERE = 2,
81 KEY_CONE = 3,
82 KEY_CYLINDER = 4,
83 KEY_CAPSULE = 5,
84 KEY_AVATAR = 6,
85}
86
87[StructLayout(LayoutKind.Sequential)]
88public struct ShapeData
89{
90 public uint ID;
91 public BSPhysicsShapeType Type;
92 public Vector3 Position;
93 public Quaternion Rotation;
94 public Vector3 Velocity;
95 public Vector3 Scale;
96 public float Mass;
97 public float Buoyancy;
98 public System.UInt64 HullKey;
99 public System.UInt64 MeshKey;
100 public float Friction;
101 public float Restitution;
102 public float Collidable; // true of things bump into this
103 public float Static; // true if a static object. Otherwise gravity, etc.
104 public float Solid; // true if object cannot be passed through
105 public Vector3 Size;
106
107 // note that bools are passed as floats since bool size changes by language and architecture
108 public const float numericTrue = 1f;
109 public const float numericFalse = 0f;
110}
111[StructLayout(LayoutKind.Sequential)]
112public struct SweepHit
113{
114 public uint ID;
115 public float Fraction;
116 public Vector3 Normal;
117 public Vector3 Point;
118}
119[StructLayout(LayoutKind.Sequential)]
120public struct RaycastHit
121{
122 public uint ID;
123 public float Fraction;
124 public Vector3 Normal;
125}
126[StructLayout(LayoutKind.Sequential)]
127public struct CollisionDesc
128{
129 public uint aID;
130 public uint bID;
131 public Vector3 point;
132 public Vector3 normal;
133}
134[StructLayout(LayoutKind.Sequential)]
135public struct EntityProperties
136{
137 public uint ID;
138 public Vector3 Position;
139 public Quaternion Rotation;
140 public Vector3 Velocity;
141 public Vector3 Acceleration;
142 public Vector3 RotationalVelocity;
143}
144
145// Format of this structure must match the definition in the C++ code
146// NOTE: adding the X causes compile breaks if used. These are unused symbols
147// that can be removed from both here and the unmanaged definition of this structure.
148[StructLayout(LayoutKind.Sequential)]
149public struct ConfigurationParameters
150{
151 public float defaultFriction;
152 public float defaultDensity;
153 public float defaultRestitution;
154 public float collisionMargin;
155 public float gravity;
156
157 public float XlinearDamping;
158 public float XangularDamping;
159 public float XdeactivationTime;
160 public float XlinearSleepingThreshold;
161 public float XangularSleepingThreshold;
162 public float XccdMotionThreshold;
163 public float XccdSweptSphereRadius;
164 public float XcontactProcessingThreshold;
165
166 public float XterrainImplementation;
167 public float XterrainFriction;
168 public float XterrainHitFraction;
169 public float XterrainRestitution;
170 public float XterrainCollisionMargin;
171
172 public float XavatarFriction;
173 public float XavatarStandingFriction;
174 public float XavatarDensity;
175 public float XavatarRestitution;
176 public float XavatarCapsuleWidth;
177 public float XavatarCapsuleDepth;
178 public float XavatarCapsuleHeight;
179 public float XavatarContactProcessingThreshold;
180
181 public float XvehicleAngularDamping;
182
183 public float maxPersistantManifoldPoolSize;
184 public float maxCollisionAlgorithmPoolSize;
185 public float shouldDisableContactPoolDynamicAllocation;
186 public float shouldForceUpdateAllAabbs;
187 public float shouldRandomizeSolverOrder;
188 public float shouldSplitSimulationIslands;
189 public float shouldEnableFrictionCaching;
190 public float numberOfSolverIterations;
191
192 public float XlinksetImplementation;
193 public float XlinkConstraintUseFrameOffset;
194 public float XlinkConstraintEnableTransMotor;
195 public float XlinkConstraintTransMotorMaxVel;
196 public float XlinkConstraintTransMotorMaxForce;
197 public float XlinkConstraintERP;
198 public float XlinkConstraintCFM;
199 public float XlinkConstraintSolverIterations;
200
201 public float physicsLoggingFrames;
202
203 public const float numericTrue = 1f;
204 public const float numericFalse = 0f;
205}
206
207
208// The states a bullet collision object can have
209public enum ActivationState : uint
210{
211 ACTIVE_TAG = 1,
212 ISLAND_SLEEPING,
213 WANTS_DEACTIVATION,
214 DISABLE_DEACTIVATION,
215 DISABLE_SIMULATION,
216}
217
218public enum CollisionObjectTypes : int
219{
220 CO_COLLISION_OBJECT = 1 << 0,
221 CO_RIGID_BODY = 1 << 1,
222 CO_GHOST_OBJECT = 1 << 2,
223 CO_SOFT_BODY = 1 << 3,
224 CO_HF_FLUID = 1 << 4,
225 CO_USER_TYPE = 1 << 5,
226}
227
228// Values used by Bullet and BulletSim to control object properties.
229// Bullet's "CollisionFlags" has more to do with operations on the
230// object (if collisions happen, if gravity effects it, ...).
231public enum CollisionFlags : uint
232{
233 CF_STATIC_OBJECT = 1 << 0,
234 CF_KINEMATIC_OBJECT = 1 << 1,
235 CF_NO_CONTACT_RESPONSE = 1 << 2,
236 CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
237 CF_CHARACTER_OBJECT = 1 << 4,
238 CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
239 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
240 // Following used by BulletSim to control collisions and updates
241 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
242 BS_FLOATS_ON_WATER = 1 << 11,
243 BS_VEHICLE_COLLISIONS = 1 << 12,
244 BS_NONE = 0,
245 BS_ALL = 0xFFFFFFFF
246};
247
248// Values f collisions groups and masks
249public enum CollisionFilterGroups : uint
250{
251 // Don't use the bit definitions!! Define the use in a
252 // filter/mask definition below. This way collision interactions
253 // are more easily found and debugged.
254 BNoneGroup = 0,
255 BDefaultGroup = 1 << 0, // 0001
256 BStaticGroup = 1 << 1, // 0002
257 BKinematicGroup = 1 << 2, // 0004
258 BDebrisGroup = 1 << 3, // 0008
259 BSensorTrigger = 1 << 4, // 0010
260 BCharacterGroup = 1 << 5, // 0020
261 BAllGroup = 0x000FFFFF,
262 // Filter groups defined by BulletSim
263 BGroundPlaneGroup = 1 << 10, // 0400
264 BTerrainGroup = 1 << 11, // 0800
265 BRaycastGroup = 1 << 12, // 1000
266 BSolidGroup = 1 << 13, // 2000
267 // BLinksetGroup = xx // a linkset proper is either static or dynamic
268 BLinksetChildGroup = 1 << 14, // 4000
269};
270
271// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
272// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
273public enum ConstraintParams : int
274{
275 BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
276 BT_CONSTRAINT_STOP_ERP,
277 BT_CONSTRAINT_CFM,
278 BT_CONSTRAINT_STOP_CFM,
279};
280public enum ConstraintParamAxis : int
281{
282 AXIS_LINEAR_X = 0,
283 AXIS_LINEAR_Y,
284 AXIS_LINEAR_Z,
285 AXIS_ANGULAR_X,
286 AXIS_ANGULAR_Y,
287 AXIS_ANGULAR_Z,
288 AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls
289 AXIS_ANGULAR_ALL,
290 AXIS_ALL
291};
292
293public abstract class BulletSimAPITemplate
294{
295// Initialization and simulation 63// Initialization and simulation
296public abstract BulletWorld Initialize2(Vector3 maxPosition, IntPtr parms, 64public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
297 int maxCollisions, IntPtr collisionArray, 65 int maxCollisions, ref CollisionDesc[] collisionArray,
298 int maxUpdates, IntPtr updateArray 66 int maxUpdates, ref EntityProperties[] updateArray
299 ); 67 )
68{
69 // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
70 m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
71 m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
72 m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
73
74 // If Debug logging level, enable logging from the unmanaged code
75 m_DebugLogCallbackHandle = null;
76 if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled)
77 {
78 BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
79 if (PhysicsScene.PhysicsLogging.Enabled)
80 // The handle is saved in a variable to make sure it doesn't get freed after this call
81 m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
82 else
83 m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
84 }
85
86 // Get the version of the DLL
87 // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
88 // BulletEngineVersion = BulletSimAPI.GetVersion2();
89 BulletEngineVersion = "";
90
91 // Call the unmanaged code with the buffers and other information
92 return new BulletWorld(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
93 maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
94 maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
95 m_DebugLogCallbackHandle));
300 96
301public abstract bool UpdateParameter2(BulletWorld world, uint localID, String parm, float value); 97}
302 98
303public abstract void SetHeightMap2(BulletWorld world, float[] heightmap); 99// Called directly from unmanaged code so don't do much
100private void BulletLogger(string msg)
101{
102 BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg);
103}
304 104
305public abstract void Shutdown2(BulletWorld sim); 105// Called directly from unmanaged code so don't do much
106private void BulletLoggerPhysLog(string msg)
107{
108 PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
109}
306 110
307public abstract int PhysicsStep2(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, 111public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
308 out int updatedEntityCount, 112 out int updatedEntityCount, out int collidersCount)
309 out IntPtr updatedEntitiesPtr, 113{
310 out int collidersCount, 114 return BSAPICPP.PhysicsStep2(world.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
311 out IntPtr collidersPtr); 115}
312 116
313public abstract bool PushUpdate2(BulletBody obj); 117public override void Shutdown(BulletWorld sim)
118{
119 BSAPICPP.Shutdown2(sim.ptr);
120}
314 121
315// ===================================================================================== 122public override bool PushUpdate(BulletBody obj)
316// Mesh, hull, shape and body creation helper routines 123{
317public abstract BulletShape CreateMeshShape2(BulletWorld world, 124 return BSAPICPP.PushUpdate2(obj.ptr);
318 int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, 125}
319 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
320 126
321public abstract BulletShape CreateHullShape2(BulletWorld world, 127public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
322 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); 128{
129 return BSAPICPP.UpdateParameter2(world.ptr, localID, parm, value);
130}
323 131
324public abstract BulletShape BuildHullShapeFromMesh2(BulletWorld world, BulletShape meshShape); 132// =====================================================================================
133// Mesh, hull, shape and body creation helper routines
134public override BulletShape CreateMeshShape(BulletWorld world,
135 int indicesCount, int[] indices,
136 int verticesCount, float[] vertices)
137{
138 return new BulletShape(
139 BSAPICPP.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices),
140 BSPhysicsShapeType.SHAPE_MESH);
141}
325 142
326public abstract BulletShape BuildNativeShape2(BulletWorld world, ShapeData shapeData); 143public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
144{
145 return new BulletShape(
146 BSAPICPP.CreateHullShape2(world.ptr, hullCount, hulls),
147 BSPhysicsShapeType.SHAPE_HULL);
148}
327 149
328public abstract bool IsNativeShape2(BulletShape shape); 150public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
151{
152 return new BulletShape(
153 BSAPICPP.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr),
154 BSPhysicsShapeType.SHAPE_HULL);
155}
329 156
330public abstract void SetShapeCollisionMargin(BulletShape shape, float margin); 157public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData)
158{
159 return new BulletShape(
160 BSAPICPP.BuildNativeShape2(world.ptr, shapeData),
161 shapeData.Type);
162}
331 163
332public abstract BulletShape BuildCapsuleShape2(BulletWorld world, float radius, float height, Vector3 scale); 164public override bool IsNativeShape(BulletShape shape)
165{
166 if (shape.HasPhysicalShape)
167 return BSAPICPP.IsNativeShape2(shape.ptr);
168 return false;
169}
333 170
334public abstract BulletShape CreateCompoundShape2(BulletWorld sim, bool enableDynamicAabbTree); 171public override void SetShapeCollisionMargin(BulletShape shape, float margin)
172{
173 if (shape.HasPhysicalShape)
174 BSAPICPP.SetShapeCollisionMargin2(shape.ptr, margin);
175}
335 176
336public abstract int GetNumberOfCompoundChildren2(BulletShape cShape); 177public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
178{
179 return new BulletShape(
180 BSAPICPP.BuildCapsuleShape2(world.ptr, radius, height, scale),
181 BSPhysicsShapeType.SHAPE_CAPSULE);
182}
337 183
338public abstract void AddChildShapeToCompoundShape2(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot); 184public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree)
185{
186 return new BulletShape(
187 BSAPICPP.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree),
188 BSPhysicsShapeType.SHAPE_COMPOUND);
339 189
340public abstract BulletShape GetChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx); 190}
341 191
342public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx); 192public override int GetNumberOfCompoundChildren(BulletShape shape)
193{
194 if (shape.HasPhysicalShape)
195 return BSAPICPP.GetNumberOfCompoundChildren2(shape.ptr);
196 return 0;
197}
343 198
344public abstract void RemoveChildShapeFromCompoundShape2(BulletShape cShape, BulletShape removeShape); 199public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot)
200{
201 BSAPICPP.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot);
202}
345 203
346public abstract void RecalculateCompoundShapeLocalAabb2(BulletShape cShape); 204public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
205{
206 return new BulletShape(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
207}
347 208
348public abstract BulletShape DuplicateCollisionShape2(BulletWorld sim, BulletShape srcShape, uint id); 209public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
210{
211 return new BulletShape(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
212}
349 213
350public abstract BulletBody CreateBodyFromShapeAndInfo2(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo); 214public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape)
215{
216 BSAPICPP.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr);
217}
351 218
352public abstract bool DeleteCollisionShape2(BulletWorld world, BulletShape shape); 219public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape)
220{
221 BSAPICPP.RecalculateCompoundShapeLocalAabb2(cShape.ptr);
222}
353 223
354public abstract int GetBodyType2(BulletBody obj); 224public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id)
225{
226 return new BulletShape(BSAPICPP.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type);
227}
355 228
356public abstract BulletBody CreateBodyFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); 229public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
230{
231 return BSAPICPP.DeleteCollisionShape2(world.ptr, shape.ptr);
232}
357 233
358public abstract BulletBody CreateBodyWithDefaultMotionState2(BulletShape shape, uint id, Vector3 pos, Quaternion rot); 234public override int GetBodyType(BulletBody obj)
235{
236 return BSAPICPP.GetBodyType2(obj.ptr);
237}
359 238
360public abstract BulletBody CreateGhostFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); 239public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
240{
241 return new BulletBody(id, BSAPICPP.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot));
242}
361 243
362public abstract IntPtr AllocateBodyInfo2(BulletBody obj); 244public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
245{
246 return new BulletBody(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot));
247}
363 248
364public abstract void ReleaseBodyInfo2(IntPtr obj); 249public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
250{
251 return new BulletBody(id, BSAPICPP.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot));
252}
365 253
366public abstract void DestroyObject2(BulletWorld sim, BulletBody obj); 254public override void DestroyObject(BulletWorld sim, BulletBody obj)
255{
256 BSAPICPP.DestroyObject2(sim.ptr, obj.ptr);
257}
367 258
368// ===================================================================================== 259// =====================================================================================
369// Terrain creation and helper routines 260// Terrain creation and helper routines
370public abstract IntPtr CreateHeightMapInfo2(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, 261public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
371 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); 262{
372 263 return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
373public abstract IntPtr FillHeightMapInfo2(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, 264}
374 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
375
376public abstract bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
377
378public abstract BulletBody CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
379 265
380public abstract BulletBody CreateTerrainShape2(IntPtr mapInfo); 266public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
267 float scaleFactor, float collisionMargin)
268{
269 return new BulletShape(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
270 BSPhysicsShapeType.SHAPE_TERRAIN);
271}
381 272
382// ===================================================================================== 273// =====================================================================================
383// Constraint creation and helper routines 274// Constraint creation and helper routines
384public abstract BulletConstraint Create6DofConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2, 275public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
385 Vector3 frame1loc, Quaternion frame1rot, 276 Vector3 frame1loc, Quaternion frame1rot,
386 Vector3 frame2loc, Quaternion frame2rot, 277 Vector3 frame2loc, Quaternion frame2rot,
387 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); 278 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
279{
280 return new BulletConstraint(BSAPICPP.Create6DofConstraint2(world.ptr, obj1.ptr, obj2.ptr, frame1loc, frame1rot,
281 frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
282}
388 283
389public abstract BulletConstraint Create6DofConstraintToPoint2(BulletWorld world, BulletBody obj1, BulletBody obj2, 284public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
390 Vector3 joinPoint, 285 Vector3 joinPoint,
391 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); 286 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
287{
288 return new BulletConstraint(BSAPICPP.Create6DofConstraintToPoint2(world.ptr, obj1.ptr, obj2.ptr,
289 joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
290}
392 291
393public abstract BulletConstraint CreateHingeConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2, 292public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
394 Vector3 pivotinA, Vector3 pivotinB, 293 Vector3 pivotinA, Vector3 pivotinB,
395 Vector3 axisInA, Vector3 axisInB, 294 Vector3 axisInA, Vector3 axisInB,
396 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); 295 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
296{
297 return new BulletConstraint(BSAPICPP.CreateHingeConstraint2(world.ptr, obj1.ptr, obj2.ptr,
298 pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
299}
397 300
398public abstract void SetConstraintEnable2(BulletConstraint constrain, float numericTrueFalse); 301public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
302{
303 BSAPICPP.SetConstraintEnable2(constrain.ptr, numericTrueFalse);
304}
399 305
400public abstract void SetConstraintNumSolverIterations2(BulletConstraint constrain, float iterations); 306public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations)
307{
308 BSAPICPP.SetConstraintNumSolverIterations2(constrain.ptr, iterations);
309}
401 310
402public abstract bool SetFrames2(BulletConstraint constrain, 311public override bool SetFrames(BulletConstraint constrain,
403 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); 312 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
313{
314 return BSAPICPP.SetFrames2(constrain.ptr, frameA, frameArot, frameB, frameBrot);
315}
404 316
405public abstract bool SetLinearLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi); 317public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
318{
319 return BSAPICPP.SetLinearLimits2(constrain.ptr, low, hi);
320}
406 321
407public abstract bool SetAngularLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi); 322public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
323{
324 return BSAPICPP.SetAngularLimits2(constrain.ptr, low, hi);
325}
408 326
409public abstract bool UseFrameOffset2(BulletConstraint constrain, float enable); 327public override bool UseFrameOffset(BulletConstraint constrain, float enable)
328{
329 return BSAPICPP.UseFrameOffset2(constrain.ptr, enable);
330}
410 331
411public abstract bool TranslationalLimitMotor2(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce); 332public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce)
333{
334 return BSAPICPP.TranslationalLimitMotor2(constrain.ptr, enable, targetVel, maxMotorForce);
335}
412 336
413public abstract bool SetBreakingImpulseThreshold2(BulletConstraint constrain, float threshold); 337public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold)
338{
339 return BSAPICPP.SetBreakingImpulseThreshold2(constrain.ptr, threshold);
340}
414 341
415public abstract bool CalculateTransforms2(BulletConstraint constrain); 342public override bool CalculateTransforms(BulletConstraint constrain)
343{
344 return BSAPICPP.CalculateTransforms2(constrain.ptr);
345}
416 346
417public abstract bool SetConstraintParam2(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); 347public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis)
348{
349 return BSAPICPP.SetConstraintParam2(constrain.ptr, paramIndex, value, axis);
350}
418 351
419public abstract bool DestroyConstraint2(BulletWorld world, BulletConstraint constrain); 352public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain)
353{
354 return BSAPICPP.DestroyConstraint2(world.ptr, constrain.ptr);
355}
420 356
421// ===================================================================================== 357// =====================================================================================
422// btCollisionWorld entries 358// btCollisionWorld entries
423public abstract void UpdateSingleAabb2(BulletWorld world, BulletBody obj); 359public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
360{
361 BSAPICPP.UpdateSingleAabb2(world.ptr, obj.ptr);
362}
424 363
425public abstract void UpdateAabbs2(BulletWorld world); 364public override void UpdateAabbs(BulletWorld world)
365{
366 BSAPICPP.UpdateAabbs2(world.ptr);
367}
426 368
427public abstract bool GetForceUpdateAllAabbs2(BulletWorld world); 369public override bool GetForceUpdateAllAabbs(BulletWorld world)
370{
371 return BSAPICPP.GetForceUpdateAllAabbs2(world.ptr);
372}
428 373
429public abstract void SetForceUpdateAllAabbs2(BulletWorld world, bool force); 374public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
375{
376 BSAPICPP.SetForceUpdateAllAabbs2(world.ptr, force);
377}
430 378
431// ===================================================================================== 379// =====================================================================================
432// btDynamicsWorld entries 380// btDynamicsWorld entries
433public abstract bool AddObjectToWorld2(BulletWorld world, BulletBody obj); 381public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
382{
383 return BSAPICPP.AddObjectToWorld2(world.ptr, obj.ptr);
384}
434 385
435public abstract bool RemoveObjectFromWorld2(BulletWorld world, BulletBody obj); 386public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
387{
388 return BSAPICPP.RemoveObjectFromWorld2(world.ptr, obj.ptr);
389}
436 390
437public abstract bool AddConstraintToWorld2(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects); 391public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
392{
393 return BSAPICPP.AddConstraintToWorld2(world.ptr, constrain.ptr, disableCollisionsBetweenLinkedObjects);
394}
438 395
439public abstract bool RemoveConstraintFromWorld2(BulletWorld world, BulletConstraint constrain); 396public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
397{
398 return BSAPICPP.RemoveConstraintFromWorld2(world.ptr, constrain.ptr);
399}
440// ===================================================================================== 400// =====================================================================================
441// btCollisionObject entries 401// btCollisionObject entries
442public abstract Vector3 GetAnisotripicFriction2(BulletConstraint constrain); 402public override Vector3 GetAnisotripicFriction(BulletConstraint constrain)
443 403{
444public abstract Vector3 SetAnisotripicFriction2(BulletConstraint constrain, Vector3 frict); 404 return BSAPICPP.GetAnisotripicFriction2(constrain.ptr);
445 405}
446public abstract bool HasAnisotripicFriction2(BulletConstraint constrain);
447
448public abstract void SetContactProcessingThreshold2(BulletBody obj, float val);
449
450public abstract float GetContactProcessingThreshold2(BulletBody obj);
451 406
452public abstract bool IsStaticObject2(BulletBody obj); 407public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict)
408{
409 return BSAPICPP.SetAnisotripicFriction2(constrain.ptr, frict);
410}
453 411
454public abstract bool IsKinematicObject2(BulletBody obj); 412public override bool HasAnisotripicFriction(BulletConstraint constrain)
413{
414 return BSAPICPP.HasAnisotripicFriction2(constrain.ptr);
415}
455 416
456public abstract bool IsStaticOrKinematicObject2(BulletBody obj); 417public override void SetContactProcessingThreshold(BulletBody obj, float val)
418{
419 BSAPICPP.SetContactProcessingThreshold2(obj.ptr, val);
420}
457 421
458public abstract bool HasContactResponse2(BulletBody obj); 422public override float GetContactProcessingThreshold(BulletBody obj)
423{
424 return BSAPICPP.GetContactProcessingThreshold2(obj.ptr);
425}
459 426
460public abstract void SetCollisionShape2(BulletWorld sim, BulletBody obj, BulletBody shape); 427public override bool IsStaticObject(BulletBody obj)
428{
429 return BSAPICPP.IsStaticObject2(obj.ptr);
430}
461 431
462public abstract BulletShape GetCollisionShape2(BulletBody obj); 432public override bool IsKinematicObject(BulletBody obj)
433{
434 return BSAPICPP.IsKinematicObject2(obj.ptr);
435}
463 436
464public abstract int GetActivationState2(BulletBody obj); 437public override bool IsStaticOrKinematicObject(BulletBody obj)
438{
439 return BSAPICPP.IsStaticOrKinematicObject2(obj.ptr);
440}
465 441
466public abstract void SetActivationState2(BulletBody obj, int state); 442public override bool HasContactResponse(BulletBody obj)
443{
444 return BSAPICPP.HasContactResponse2(obj.ptr);
445}
467 446
468public abstract void SetDeactivationTime2(BulletBody obj, float dtime); 447public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape)
448{
449 BSAPICPP.SetCollisionShape2(sim.ptr, obj.ptr, shape.ptr);
450}
469 451
470public abstract float GetDeactivationTime2(BulletBody obj); 452public override BulletShape GetCollisionShape(BulletBody obj)
453{
454 return new BulletShape(BSAPICPP.GetCollisionShape2(obj.ptr));
455}
471 456
472public abstract void ForceActivationState2(BulletBody obj, ActivationState state); 457public override int GetActivationState(BulletBody obj)
458{
459 return BSAPICPP.GetActivationState2(obj.ptr);
460}
473 461
474public abstract void Activate2(BulletBody obj, bool forceActivation); 462public override void SetActivationState(BulletBody obj, int state)
463{
464 BSAPICPP.SetActivationState2(obj.ptr, state);
465}
475 466
476public abstract bool IsActive2(BulletBody obj); 467public override void SetDeactivationTime(BulletBody obj, float dtime)
468{
469 BSAPICPP.SetDeactivationTime2(obj.ptr, dtime);
470}
477 471
478public abstract void SetRestitution2(BulletBody obj, float val); 472public override float GetDeactivationTime(BulletBody obj)
473{
474 return BSAPICPP.GetDeactivationTime2(obj.ptr);
475}
479 476
480public abstract float GetRestitution2(BulletBody obj); 477public override void ForceActivationState(BulletBody obj, ActivationState state)
478{
479 BSAPICPP.ForceActivationState2(obj.ptr, state);
480}
481 481
482public abstract void SetFriction2(BulletBody obj, float val); 482public override void Activate(BulletBody obj, bool forceActivation)
483{
484 BSAPICPP.Activate2(obj.ptr, forceActivation);
485}
483 486
484public abstract float GetFriction2(BulletBody obj); 487public override bool IsActive(BulletBody obj)
488{
489 return BSAPICPP.IsActive2(obj.ptr);
490}
485 491
486 /* Haven't defined the type 'Transform' 492public override void SetRestitution(BulletBody obj, float val)
487public abstract Transform GetWorldTransform2(BulletBody obj); 493{
494 BSAPICPP.SetRestitution2(obj.ptr, val);
495}
488 496
489public abstract void setWorldTransform2(BulletBody obj, Transform trans); 497public override float GetRestitution(BulletBody obj)
490 */ 498{
499 return BSAPICPP.GetRestitution2(obj.ptr);
500}
491 501
492public abstract Vector3 GetPosition2(BulletBody obj); 502public override void SetFriction(BulletBody obj, float val)
503{
504 BSAPICPP.SetFriction2(obj.ptr, val);
505}
493 506
494public abstract Quaternion GetOrientation2(BulletBody obj); 507public override float GetFriction(BulletBody obj)
508{
509 return BSAPICPP.GetFriction2(obj.ptr);
510}
495 511
496public abstract void SetTranslation2(BulletBody obj, Vector3 position, Quaternion rotation); 512public override Vector3 GetPosition(BulletBody obj)
513{
514 return BSAPICPP.GetPosition2(obj.ptr);
515}
497 516
498public abstract IntPtr GetBroadphaseHandle2(BulletBody obj); 517public override Quaternion GetOrientation(BulletBody obj)
518{
519 return BSAPICPP.GetOrientation2(obj.ptr);
520}
499 521
500public abstract void SetBroadphaseHandle2(BulletBody obj, IntPtr handle); 522public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation)
523{
524 BSAPICPP.SetTranslation2(obj.ptr, position, rotation);
525}
501 526
502 /* 527 /*
503public abstract Transform GetInterpolationWorldTransform2(IntPtr obj); 528public override IntPtr GetBroadphaseHandle(BulletBody obj)
529{
530 return BSAPICPP.GetBroadphaseHandle2(obj.ptr);
531}
504 532
505public abstract void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); 533public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle)
534{
535 BSAPICPP.SetUserPointer2(obj.ptr, handle);
536}
506 */ 537 */
507 538
508public abstract void SetInterpolationLinearVelocity2(BulletBody obj, Vector3 vel); 539public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel)
540{
541 BSAPICPP.SetInterpolationLinearVelocity2(obj.ptr, vel);
542}
509 543
510public abstract void SetInterpolationAngularVelocity2(BulletBody obj, Vector3 vel); 544public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel)
545{
546 BSAPICPP.SetInterpolationAngularVelocity2(obj.ptr, vel);
547}
511 548
512public abstract void SetInterpolationVelocity2(BulletBody obj, Vector3 linearVel, Vector3 angularVel); 549public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel)
550{
551 BSAPICPP.SetInterpolationVelocity2(obj.ptr, linearVel, angularVel);
552}
513 553
514public abstract float GetHitFraction2(BulletBody obj); 554public override float GetHitFraction(BulletBody obj)
555{
556 return BSAPICPP.GetHitFraction2(obj.ptr);
557}
515 558
516public abstract void SetHitFraction2(BulletBody obj, float val); 559public override void SetHitFraction(BulletBody obj, float val)
560{
561 BSAPICPP.SetHitFraction2(obj.ptr, val);
562}
517 563
518public abstract CollisionFlags GetCollisionFlags2(BulletBody obj); 564public override CollisionFlags GetCollisionFlags(BulletBody obj)
565{
566 return BSAPICPP.GetCollisionFlags2(obj.ptr);
567}
519 568
520public abstract CollisionFlags SetCollisionFlags2(BulletBody obj, CollisionFlags flags); 569public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags)
570{
571 return BSAPICPP.SetCollisionFlags2(obj.ptr, flags);
572}
521 573
522public abstract CollisionFlags AddToCollisionFlags2(BulletBody obj, CollisionFlags flags); 574public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags)
575{
576 return BSAPICPP.AddToCollisionFlags2(obj.ptr, flags);
577}
523 578
524public abstract CollisionFlags RemoveFromCollisionFlags2(BulletBody obj, CollisionFlags flags); 579public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags)
580{
581 return BSAPICPP.RemoveFromCollisionFlags2(obj.ptr, flags);
582}
525 583
526public abstract float GetCcdMotionThreshold2(BulletBody obj); 584public override float GetCcdMotionThreshold(BulletBody obj)
585{
586 return BSAPICPP.GetCcdMotionThreshold2(obj.ptr);
587}
527 588
528public abstract void SetCcdMotionThreshold2(BulletBody obj, float val);
529 589
530public abstract float GetCcdSweptSphereRadius2(BulletBody obj); 590public override void SetCcdMotionThreshold(BulletBody obj, float val)
591{
592 BSAPICPP.SetCcdMotionThreshold2(obj.ptr, val);
593}
531 594
532public abstract void SetCcdSweptSphereRadius2(BulletBody obj, float val); 595public override float GetCcdSweptSphereRadius(BulletBody obj)
596{
597 return BSAPICPP.GetCcdSweptSphereRadius2(obj.ptr);
598}
533 599
534public abstract IntPtr GetUserPointer2(BulletBody obj); 600public override void SetCcdSweptSphereRadius(BulletBody obj, float val)
601{
602 BSAPICPP.SetCcdSweptSphereRadius2(obj.ptr, val);
603}
535 604
536public abstract void SetUserPointer2(BulletBody obj, IntPtr val); 605public override IntPtr GetUserPointer(BulletBody obj)
606{
607 return BSAPICPP.GetUserPointer2(obj.ptr);
608}
609
610public override void SetUserPointer(BulletBody obj, IntPtr val)
611{
612 BSAPICPP.SetUserPointer2(obj.ptr, val);
613}
537 614
538// ===================================================================================== 615// =====================================================================================
539// btRigidBody entries 616// btRigidBody entries
540public abstract void ApplyGravity2(BulletBody obj); 617public override void ApplyGravity(BulletBody obj)
541 618{
542public abstract void SetGravity2(BulletBody obj, Vector3 val); 619 BSAPICPP.ApplyGravity2(obj.ptr);
543 620}
544public abstract Vector3 GetGravity2(BulletBody obj);
545 621
546public abstract void SetDamping2(BulletBody obj, float lin_damping, float ang_damping); 622public override void SetGravity(BulletBody obj, Vector3 val)
623{
624 BSAPICPP.SetGravity2(obj.ptr, val);
625}
547 626
548public abstract void SetLinearDamping2(BulletBody obj, float lin_damping); 627public override Vector3 GetGravity(BulletBody obj)
628{
629 return BSAPICPP.GetGravity2(obj.ptr);
630}
549 631
550public abstract void SetAngularDamping2(BulletBody obj, float ang_damping); 632public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping)
633{
634 BSAPICPP.SetDamping2(obj.ptr, lin_damping, ang_damping);
635}
551 636
552public abstract float GetLinearDamping2(BulletBody obj); 637public override void SetLinearDamping(BulletBody obj, float lin_damping)
638{
639 BSAPICPP.SetLinearDamping2(obj.ptr, lin_damping);
640}
553 641
554public abstract float GetAngularDamping2(BulletBody obj); 642public override void SetAngularDamping(BulletBody obj, float ang_damping)
643{
644 BSAPICPP.SetAngularDamping2(obj.ptr, ang_damping);
645}
555 646
556public abstract float GetLinearSleepingThreshold2(BulletBody obj); 647public override float GetLinearDamping(BulletBody obj)
648{
649 return BSAPICPP.GetLinearDamping2(obj.ptr);
650}
557 651
652public override float GetAngularDamping(BulletBody obj)
653{
654 return BSAPICPP.GetAngularDamping2(obj.ptr);
655}
558 656
559public abstract void ApplyDamping2(BulletBody obj, float timeStep); 657public override float GetLinearSleepingThreshold(BulletBody obj)
658{
659 return BSAPICPP.GetLinearSleepingThreshold2(obj.ptr);
660}
560 661
561public abstract void SetMassProps2(BulletBody obj, float mass, Vector3 inertia); 662public override void ApplyDamping(BulletBody obj, float timeStep)
663{
664 BSAPICPP.ApplyDamping2(obj.ptr, timeStep);
665}
562 666
563public abstract Vector3 GetLinearFactor2(BulletBody obj); 667public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia)
668{
669 BSAPICPP.SetMassProps2(obj.ptr, mass, inertia);
670}
564 671
565public abstract void SetLinearFactor2(BulletBody obj, Vector3 factor); 672public override Vector3 GetLinearFactor(BulletBody obj)
673{
674 return BSAPICPP.GetLinearFactor2(obj.ptr);
675}
566 676
567 /* 677public override void SetLinearFactor(BulletBody obj, Vector3 factor)
568public abstract void SetCenterOfMassTransform2(BulletBody obj, Transform trans); 678{
569 */ 679 BSAPICPP.SetLinearFactor2(obj.ptr, factor);
680}
570 681
571public abstract void SetCenterOfMassByPosRot2(BulletBody obj, Vector3 pos, Quaternion rot); 682public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot)
683{
684 BSAPICPP.SetCenterOfMassByPosRot2(obj.ptr, pos, rot);
685}
572 686
573// Add a force to the object as if its mass is one. 687// Add a force to the object as if its mass is one.
574public abstract void ApplyCentralForce2(BulletBody obj, Vector3 force); 688public override void ApplyCentralForce(BulletBody obj, Vector3 force)
689{
690 BSAPICPP.ApplyCentralForce2(obj.ptr, force);
691}
575 692
576// Set the force being applied to the object as if its mass is one. 693// Set the force being applied to the object as if its mass is one.
577public abstract void SetObjectForce2(BulletBody obj, Vector3 force); 694public override void SetObjectForce(BulletBody obj, Vector3 force)
695{
696 BSAPICPP.SetObjectForce2(obj.ptr, force);
697}
578 698
579public abstract Vector3 GetTotalForce2(BulletBody obj); 699public override Vector3 GetTotalForce(BulletBody obj)
700{
701 return BSAPICPP.GetTotalForce2(obj.ptr);
702}
580 703
581public abstract Vector3 GetTotalTorque2(BulletBody obj); 704public override Vector3 GetTotalTorque(BulletBody obj)
705{
706 return BSAPICPP.GetTotalTorque2(obj.ptr);
707}
582 708
583public abstract Vector3 GetInvInertiaDiagLocal2(BulletBody obj); 709public override Vector3 GetInvInertiaDiagLocal(BulletBody obj)
710{
711 return BSAPICPP.GetInvInertiaDiagLocal2(obj.ptr);
712}
584 713
585public abstract void SetInvInertiaDiagLocal2(BulletBody obj, Vector3 inert); 714public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert)
715{
716 BSAPICPP.SetInvInertiaDiagLocal2(obj.ptr, inert);
717}
586 718
587public abstract void SetSleepingThresholds2(BulletBody obj, float lin_threshold, float ang_threshold); 719public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold)
720{
721 BSAPICPP.SetSleepingThresholds2(obj.ptr, lin_threshold, ang_threshold);
722}
588 723
589public abstract void ApplyTorque2(BulletBody obj, Vector3 torque); 724public override void ApplyTorque(BulletBody obj, Vector3 torque)
725{
726 BSAPICPP.ApplyTorque2(obj.ptr, torque);
727}
590 728
591// Apply force at the given point. Will add torque to the object. 729// Apply force at the given point. Will add torque to the object.
592public abstract void ApplyForce2(BulletBody obj, Vector3 force, Vector3 pos); 730public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
731{
732 BSAPICPP.ApplyForce2(obj.ptr, force, pos);
733}
593 734
594// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. 735// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
595public abstract void ApplyCentralImpulse2(BulletBody obj, Vector3 imp); 736public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
737{
738 BSAPICPP.ApplyCentralImpulse2(obj.ptr, imp);
739}
596 740
597// Apply impulse to the object's torque. Force is scaled by object's mass. 741// Apply impulse to the object's torque. Force is scaled by object's mass.
598public abstract void ApplyTorqueImpulse2(BulletBody obj, Vector3 imp); 742public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
743{
744 BSAPICPP.ApplyTorqueImpulse2(obj.ptr, imp);
745}
599 746
600// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. 747// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
601public abstract void ApplyImpulse2(BulletBody obj, Vector3 imp, Vector3 pos); 748public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
602 749{
603public abstract void ClearForces2(BulletBody obj); 750 BSAPICPP.ApplyImpulse2(obj.ptr, imp, pos);
604 751}
605public abstract void ClearAllForces2(BulletBody obj);
606 752
607public abstract void UpdateInertiaTensor2(BulletBody obj); 753public override void ClearForces(BulletBody obj)
754{
755 BSAPICPP.ClearForces2(obj.ptr);
756}
608 757
758public override void ClearAllForces(BulletBody obj)
759{
760 BSAPICPP.ClearAllForces2(obj.ptr);
761}
609 762
610 /* 763public override void UpdateInertiaTensor(BulletBody obj)
611public abstract Transform GetCenterOfMassTransform2(BulletBody obj); 764{
612 */ 765 BSAPICPP.UpdateInertiaTensor2(obj.ptr);
766}
613 767
614public abstract Vector3 GetLinearVelocity2(BulletBody obj); 768public override Vector3 GetLinearVelocity(BulletBody obj)
769{
770 return BSAPICPP.GetLinearVelocity2(obj.ptr);
771}
615 772
616public abstract Vector3 GetAngularVelocity2(BulletBody obj); 773public override Vector3 GetAngularVelocity(BulletBody obj)
774{
775 return BSAPICPP.GetAngularVelocity2(obj.ptr);
776}
617 777
618public abstract void SetLinearVelocity2(BulletBody obj, Vector3 val); 778public override void SetLinearVelocity(BulletBody obj, Vector3 vel)
779{
780 BSAPICPP.SetLinearVelocity2(obj.ptr, vel);
781}
619 782
620public abstract void SetAngularVelocity2(BulletBody obj, Vector3 angularVelocity); 783public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity)
784{
785 BSAPICPP.SetAngularVelocity2(obj.ptr, angularVelocity);
786}
621 787
622public abstract Vector3 GetVelocityInLocalPoint2(BulletBody obj, Vector3 pos); 788public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos)
789{
790 return BSAPICPP.GetVelocityInLocalPoint2(obj.ptr, pos);
791}
623 792
624public abstract void Translate2(BulletBody obj, Vector3 trans); 793public override void Translate(BulletBody obj, Vector3 trans)
794{
795 BSAPICPP.Translate2(obj.ptr, trans);
796}
625 797
626public abstract void UpdateDeactivation2(BulletBody obj, float timeStep); 798public override void UpdateDeactivation(BulletBody obj, float timeStep)
799{
800 BSAPICPP.UpdateDeactivation2(obj.ptr, timeStep);
801}
627 802
628public abstract bool WantsSleeping2(BulletBody obj); 803public override bool WantsSleeping(BulletBody obj)
804{
805 return BSAPICPP.WantsSleeping2(obj.ptr);
806}
629 807
630public abstract void SetAngularFactor2(BulletBody obj, float factor); 808public override void SetAngularFactor(BulletBody obj, float factor)
809{
810 BSAPICPP.SetAngularFactor2(obj.ptr, factor);
811}
631 812
632public abstract void SetAngularFactorV2(BulletBody obj, Vector3 factor); 813public override void SetAngularFactorV(BulletBody obj, Vector3 factor)
814{
815 BSAPICPP.SetAngularFactorV2(obj.ptr, factor);
816}
633 817
634public abstract Vector3 GetAngularFactor2(BulletBody obj); 818public override Vector3 GetAngularFactor(BulletBody obj)
819{
820 return BSAPICPP.GetAngularFactor2(obj.ptr);
821}
635 822
636public abstract bool IsInWorld2(BulletBody obj); 823public override bool IsInWorld(BulletBody obj)
824{
825 return BSAPICPP.IsInWorld2(obj.ptr);
826}
637 827
638public abstract void AddConstraintRef2(BulletBody obj, BulletConstraint constrain); 828public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain)
829{
830 BSAPICPP.AddConstraintRef2(obj.ptr, constrain.ptr);
831}
639 832
640public abstract void RemoveConstraintRef2(BulletBody obj, BulletConstraint constrain); 833public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain)
834{
835 BSAPICPP.RemoveConstraintRef2(obj.ptr, constrain.ptr);
836}
641 837
642public abstract BulletConstraint GetConstraintRef2(BulletBody obj, int index); 838public override BulletConstraint GetConstraintRef(BulletBody obj, int index)
839{
840 return new BulletConstraint(BSAPICPP.GetConstraintRef2(obj.ptr, index));
841}
643 842
644public abstract int GetNumConstraintRefs2(BulletBody obj); 843public override int GetNumConstraintRefs(BulletBody obj)
844{
845 return BSAPICPP.GetNumConstraintRefs2(obj.ptr);
846}
645 847
646public abstract bool SetCollisionGroupMask2(BulletBody body, uint filter, uint mask); 848public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask)
849{
850 return BSAPICPP.SetCollisionGroupMask2(body.ptr, filter, mask);
851}
647 852
648// ===================================================================================== 853// =====================================================================================
649// btCollisionShape entries 854// btCollisionShape entries
650 855
651public abstract float GetAngularMotionDisc2(BulletShape shape); 856public override float GetAngularMotionDisc(BulletShape shape)
857{
858 return BSAPICPP.GetAngularMotionDisc2(shape.ptr);
859}
860
861public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor)
862{
863 return BSAPICPP.GetContactBreakingThreshold2(shape.ptr, defaultFactor);
864}
865
866public override bool IsPolyhedral(BulletShape shape)
867{
868 return BSAPICPP.IsPolyhedral2(shape.ptr);
869}
870
871public override bool IsConvex2d(BulletShape shape)
872{
873 return BSAPICPP.IsConvex2d2(shape.ptr);
874}
652 875
653public abstract float GetContactBreakingThreshold2(BulletShape shape, float defaultFactor); 876public override bool IsConvex(BulletShape shape)
877{
878 return BSAPICPP.IsConvex2(shape.ptr);
879}
654 880
655public abstract bool IsPolyhedral2(BulletShape shape); 881public override bool IsNonMoving(BulletShape shape)
882{
883 return BSAPICPP.IsNonMoving2(shape.ptr);
884}
656 885
657public abstract bool IsConvex2d2(BulletShape shape); 886public override bool IsConcave(BulletShape shape)
887{
888 return BSAPICPP.IsConcave2(shape.ptr);
889}
658 890
659public abstract bool IsConvex2(BulletShape shape); 891public override bool IsCompound(BulletShape shape)
892{
893 return BSAPICPP.IsCompound2(shape.ptr);
894}
660 895
661public abstract bool IsNonMoving2(BulletShape shape); 896public override bool IsSoftBody(BulletShape shape)
897{
898 return BSAPICPP.IsSoftBody2(shape.ptr);
899}
900
901public override bool IsInfinite(BulletShape shape)
902{
903 return BSAPICPP.IsInfinite2(shape.ptr);
904}
905
906public override void SetLocalScaling(BulletShape shape, Vector3 scale)
907{
908 BSAPICPP.SetLocalScaling2(shape.ptr, scale);
909}
910
911public override Vector3 GetLocalScaling(BulletShape shape)
912{
913 return BSAPICPP.GetLocalScaling2(shape.ptr);
914}
662 915
663public abstract bool IsConcave2(BulletShape shape); 916public override Vector3 CalculateLocalInertia(BulletShape shape, float mass)
917{
918 return BSAPICPP.CalculateLocalInertia2(shape.ptr, mass);
919}
664 920
665public abstract bool IsCompound2(BulletShape shape); 921public override int GetShapeType(BulletShape shape)
922{
923 return BSAPICPP.GetShapeType2(shape.ptr);
924}
666 925
667public abstract bool IsSoftBody2(BulletShape shape); 926public override void SetMargin(BulletShape shape, float val)
927{
928 BSAPICPP.SetMargin2(shape.ptr, val);
929}
668 930
669public abstract bool IsInfinite2(BulletShape shape); 931public override float GetMargin(BulletShape shape)
932{
933 return BSAPICPP.GetMargin2(shape.ptr);
934}
670 935
671public abstract void SetLocalScaling2(BulletShape shape, Vector3 scale); 936// =====================================================================================
937// Debugging
938public override void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
939{
940 BSAPICPP.DumpRigidBody2(sim.ptr, collisionObject.ptr);
941}
672 942
673public abstract Vector3 GetLocalScaling2(BulletShape shape); 943public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape)
944{
945 BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr);
946}
674 947
675public abstract Vector3 CalculateLocalInertia2(BulletShape shape, float mass); 948public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
949{
950 BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr);
951}
676 952
677public abstract int GetShapeType2(BulletShape shape); 953public override void DumpActivationInfo(BulletWorld sim)
954{
955 BSAPICPP.DumpActivationInfo2(sim.ptr);
956}
678 957
679public abstract void SetMargin2(BulletShape shape, float val); 958public override void DumpAllInfo(BulletWorld sim)
959{
960 BSAPICPP.DumpAllInfo2(sim.ptr);
961}
680 962
681public abstract float GetMargin2(BulletShape shape); 963public override void DumpPhysicsStatistics(BulletWorld sim)
964{
965 BSAPICPP.DumpPhysicsStatistics2(sim.ptr);
966}
682 967
683};
684 968
685// =============================================================================== 969// =====================================================================================
686static class BulletSimAPI { 970// =====================================================================================
971// =====================================================================================
972// =====================================================================================
973// =====================================================================================
974// The actual interface to the unmanaged code
975static class BSAPICPP
976{
687// =============================================================================== 977// ===============================================================================
688// Link back to the managed code for outputting log messages 978// Link back to the managed code for outputting log messages
689[UnmanagedFunctionPointer(CallingConvention.Cdecl)] 979[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
@@ -698,23 +988,17 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
698 DebugLogCallback logRoutine); 988 DebugLogCallback logRoutine);
699 989
700[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 990[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
701public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); 991public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
702 992 out int updatedEntityCount, out int collidersCount);
703[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
704public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
705 993
706[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 994[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
707public static extern void Shutdown2(IntPtr sim); 995public static extern void Shutdown2(IntPtr sim);
708 996
709[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 997[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
710public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, 998public static extern bool PushUpdate2(IntPtr obj);
711 out int updatedEntityCount,
712 out IntPtr updatedEntitiesPtr,
713 out int collidersCount,
714 out IntPtr collidersPtr);
715 999
716[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1000[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
717public static extern bool PushUpdate2(IntPtr obj); 1001public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
718 1002
719// ===================================================================================== 1003// =====================================================================================
720// Mesh, hull, shape and body creation helper routines 1004// Mesh, hull, shape and body creation helper routines
@@ -737,7 +1021,7 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData)
737public static extern bool IsNativeShape2(IntPtr shape); 1021public static extern bool IsNativeShape2(IntPtr shape);
738 1022
739[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1023[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
740public static extern void SetShapeCollisionMargin(IntPtr shape, float margin); 1024public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin);
741 1025
742[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1026[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
743public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); 1027public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
@@ -767,9 +1051,6 @@ public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
767public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); 1051public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
768 1052
769[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1053[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
770public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
771
772[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
773public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); 1054public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
774 1055
775[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1056[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -785,32 +1066,17 @@ public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint
785public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); 1066public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
786 1067
787[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1068[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
788public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
789
790[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
791public static extern void ReleaseBodyInfo2(IntPtr obj);
792
793[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
794public static extern void DestroyObject2(IntPtr sim, IntPtr obj); 1069public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
795 1070
796// ===================================================================================== 1071// =====================================================================================
797// Terrain creation and helper routines 1072// Terrain creation and helper routines
798[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1073[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
799public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
800 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
801
802[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
803public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
804 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
805
806[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
807public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
808
809[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
810public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); 1074public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
811 1075
812[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1076[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
813public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); 1077public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight,
1078 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
1079 float scaleFactor, float collisionMargin);
814 1080
815// ===================================================================================== 1081// =====================================================================================
816// Constraint creation and helper routines 1082// Constraint creation and helper routines
@@ -1273,4 +1539,7 @@ public static extern void DumpAllInfo2(IntPtr sim);
1273public static extern void DumpPhysicsStatistics2(IntPtr sim); 1539public static extern void DumpPhysicsStatistics2(IntPtr sim);
1274 1540
1275} 1541}
1542
1543}
1544
1276} 1545}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
new file mode 100755
index 0000000..8ed791e
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -0,0 +1,39 @@
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.Linq;
30using System.Text;
31
32namespace OpenSim.Region.Physics.BulletSPlugin
33{
34 /*
35public sealed class BSAPIXNA : BSAPITemplate
36{
37}
38 */
39}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
new file mode 100644
index 0000000..699f055
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -0,0 +1,662 @@
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.Runtime.InteropServices;
30using System.Security;
31using System.Text;
32using OpenMetaverse;
33
34namespace OpenSim.Region.Physics.BulletSPlugin {
35
36 // Constraint type values as defined by Bullet
37public enum ConstraintType : int
38{
39 POINT2POINT_CONSTRAINT_TYPE = 3,
40 HINGE_CONSTRAINT_TYPE,
41 CONETWIST_CONSTRAINT_TYPE,
42 D6_CONSTRAINT_TYPE,
43 SLIDER_CONSTRAINT_TYPE,
44 CONTACT_CONSTRAINT_TYPE,
45 D6_SPRING_CONSTRAINT_TYPE,
46 MAX_CONSTRAINT_TYPE
47}
48
49// ===============================================================================
50[StructLayout(LayoutKind.Sequential)]
51public struct ConvexHull
52{
53 Vector3 Offset;
54 int VertexCount;
55 Vector3[] Vertices;
56}
57public enum BSPhysicsShapeType
58{
59 SHAPE_UNKNOWN = 0,
60 SHAPE_CAPSULE = 1,
61 SHAPE_BOX = 2,
62 SHAPE_CONE = 3,
63 SHAPE_CYLINDER = 4,
64 SHAPE_SPHERE = 5,
65 SHAPE_MESH = 6,
66 SHAPE_HULL = 7,
67 // following defined by BulletSim
68 SHAPE_GROUNDPLANE = 20,
69 SHAPE_TERRAIN = 21,
70 SHAPE_COMPOUND = 22,
71 SHAPE_HEIGHTMAP = 23,
72 SHAPE_AVATAR = 24,
73};
74
75// The native shapes have predefined shape hash keys
76public enum FixedShapeKey : ulong
77{
78 KEY_NONE = 0,
79 KEY_BOX = 1,
80 KEY_SPHERE = 2,
81 KEY_CONE = 3,
82 KEY_CYLINDER = 4,
83 KEY_CAPSULE = 5,
84 KEY_AVATAR = 6,
85}
86
87[StructLayout(LayoutKind.Sequential)]
88public struct ShapeData
89{
90 public uint ID;
91 public BSPhysicsShapeType Type;
92 public Vector3 Position;
93 public Quaternion Rotation;
94 public Vector3 Velocity;
95 public Vector3 Scale;
96 public float Mass;
97 public float Buoyancy;
98 public System.UInt64 HullKey;
99 public System.UInt64 MeshKey;
100 public float Friction;
101 public float Restitution;
102 public float Collidable; // true of things bump into this
103 public float Static; // true if a static object. Otherwise gravity, etc.
104 public float Solid; // true if object cannot be passed through
105 public Vector3 Size;
106
107 // note that bools are passed as floats since bool size changes by language and architecture
108 public const float numericTrue = 1f;
109 public const float numericFalse = 0f;
110}
111[StructLayout(LayoutKind.Sequential)]
112public struct SweepHit
113{
114 public uint ID;
115 public float Fraction;
116 public Vector3 Normal;
117 public Vector3 Point;
118}
119[StructLayout(LayoutKind.Sequential)]
120public struct RaycastHit
121{
122 public uint ID;
123 public float Fraction;
124 public Vector3 Normal;
125}
126[StructLayout(LayoutKind.Sequential)]
127public struct CollisionDesc
128{
129 public uint aID;
130 public uint bID;
131 public Vector3 point;
132 public Vector3 normal;
133}
134[StructLayout(LayoutKind.Sequential)]
135public struct EntityProperties
136{
137 public uint ID;
138 public Vector3 Position;
139 public Quaternion Rotation;
140 public Vector3 Velocity;
141 public Vector3 Acceleration;
142 public Vector3 RotationalVelocity;
143}
144
145// Format of this structure must match the definition in the C++ code
146// NOTE: adding the X causes compile breaks if used. These are unused symbols
147// that can be removed from both here and the unmanaged definition of this structure.
148[StructLayout(LayoutKind.Sequential)]
149public struct ConfigurationParameters
150{
151 public float defaultFriction;
152 public float defaultDensity;
153 public float defaultRestitution;
154 public float collisionMargin;
155 public float gravity;
156
157 public float XlinearDamping;
158 public float XangularDamping;
159 public float XdeactivationTime;
160 public float XlinearSleepingThreshold;
161 public float XangularSleepingThreshold;
162 public float XccdMotionThreshold;
163 public float XccdSweptSphereRadius;
164 public float XcontactProcessingThreshold;
165
166 public float XterrainImplementation;
167 public float XterrainFriction;
168 public float XterrainHitFraction;
169 public float XterrainRestitution;
170 public float XterrainCollisionMargin;
171
172 public float XavatarFriction;
173 public float XavatarStandingFriction;
174 public float XavatarDensity;
175 public float XavatarRestitution;
176 public float XavatarCapsuleWidth;
177 public float XavatarCapsuleDepth;
178 public float XavatarCapsuleHeight;
179 public float XavatarContactProcessingThreshold;
180
181 public float XvehicleAngularDamping;
182
183 public float maxPersistantManifoldPoolSize;
184 public float maxCollisionAlgorithmPoolSize;
185 public float shouldDisableContactPoolDynamicAllocation;
186 public float shouldForceUpdateAllAabbs;
187 public float shouldRandomizeSolverOrder;
188 public float shouldSplitSimulationIslands;
189 public float shouldEnableFrictionCaching;
190 public float numberOfSolverIterations;
191
192 public float XlinksetImplementation;
193 public float XlinkConstraintUseFrameOffset;
194 public float XlinkConstraintEnableTransMotor;
195 public float XlinkConstraintTransMotorMaxVel;
196 public float XlinkConstraintTransMotorMaxForce;
197 public float XlinkConstraintERP;
198 public float XlinkConstraintCFM;
199 public float XlinkConstraintSolverIterations;
200
201 public float physicsLoggingFrames;
202
203 public const float numericTrue = 1f;
204 public const float numericFalse = 0f;
205}
206
207
208// The states a bullet collision object can have
209public enum ActivationState : uint
210{
211 ACTIVE_TAG = 1,
212 ISLAND_SLEEPING,
213 WANTS_DEACTIVATION,
214 DISABLE_DEACTIVATION,
215 DISABLE_SIMULATION,
216}
217
218public enum CollisionObjectTypes : int
219{
220 CO_COLLISION_OBJECT = 1 << 0,
221 CO_RIGID_BODY = 1 << 1,
222 CO_GHOST_OBJECT = 1 << 2,
223 CO_SOFT_BODY = 1 << 3,
224 CO_HF_FLUID = 1 << 4,
225 CO_USER_TYPE = 1 << 5,
226}
227
228// Values used by Bullet and BulletSim to control object properties.
229// Bullet's "CollisionFlags" has more to do with operations on the
230// object (if collisions happen, if gravity effects it, ...).
231public enum CollisionFlags : uint
232{
233 CF_STATIC_OBJECT = 1 << 0,
234 CF_KINEMATIC_OBJECT = 1 << 1,
235 CF_NO_CONTACT_RESPONSE = 1 << 2,
236 CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
237 CF_CHARACTER_OBJECT = 1 << 4,
238 CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
239 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
240 // Following used by BulletSim to control collisions and updates
241 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
242 BS_FLOATS_ON_WATER = 1 << 11,
243 BS_VEHICLE_COLLISIONS = 1 << 12,
244 BS_NONE = 0,
245 BS_ALL = 0xFFFFFFFF
246};
247
248// Values f collisions groups and masks
249public enum CollisionFilterGroups : uint
250{
251 // Don't use the bit definitions!! Define the use in a
252 // filter/mask definition below. This way collision interactions
253 // are more easily found and debugged.
254 BNoneGroup = 0,
255 BDefaultGroup = 1 << 0, // 0001
256 BStaticGroup = 1 << 1, // 0002
257 BKinematicGroup = 1 << 2, // 0004
258 BDebrisGroup = 1 << 3, // 0008
259 BSensorTrigger = 1 << 4, // 0010
260 BCharacterGroup = 1 << 5, // 0020
261 BAllGroup = 0x000FFFFF,
262 // Filter groups defined by BulletSim
263 BGroundPlaneGroup = 1 << 10, // 0400
264 BTerrainGroup = 1 << 11, // 0800
265 BRaycastGroup = 1 << 12, // 1000
266 BSolidGroup = 1 << 13, // 2000
267 // BLinksetGroup = xx // a linkset proper is either static or dynamic
268 BLinksetChildGroup = 1 << 14, // 4000
269};
270
271// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
272// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
273public enum ConstraintParams : int
274{
275 BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
276 BT_CONSTRAINT_STOP_ERP,
277 BT_CONSTRAINT_CFM,
278 BT_CONSTRAINT_STOP_CFM,
279};
280public enum ConstraintParamAxis : int
281{
282 AXIS_LINEAR_X = 0,
283 AXIS_LINEAR_Y,
284 AXIS_LINEAR_Z,
285 AXIS_ANGULAR_X,
286 AXIS_ANGULAR_Y,
287 AXIS_ANGULAR_Z,
288 AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls
289 AXIS_ANGULAR_ALL,
290 AXIS_ALL
291};
292
293public abstract class BSAPITemplate
294{
295// Returns the name of the underlying Bullet engine
296public abstract string BulletEngineName { get; }
297public abstract string BulletEngineVersion { get; protected set;}
298
299// Initialization and simulation
300public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
301 int maxCollisions, ref CollisionDesc[] collisionArray,
302 int maxUpdates, ref EntityProperties[] updateArray
303 );
304
305public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
306 out int updatedEntityCount, out int collidersCount);
307
308public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
309
310public abstract void Shutdown(BulletWorld sim);
311
312public abstract bool PushUpdate(BulletBody obj);
313
314// =====================================================================================
315// Mesh, hull, shape and body creation helper routines
316public abstract BulletShape CreateMeshShape(BulletWorld world,
317 int indicesCount, int[] indices,
318 int verticesCount, float[] vertices );
319
320public abstract BulletShape CreateHullShape(BulletWorld world,
321 int hullCount, float[] hulls);
322
323public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
324
325public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
326
327public abstract bool IsNativeShape(BulletShape shape);
328
329public abstract void SetShapeCollisionMargin(BulletShape shape, float margin);
330
331public abstract BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale);
332
333public abstract BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree);
334
335public abstract int GetNumberOfCompoundChildren(BulletShape cShape);
336
337public abstract void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot);
338
339public abstract BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
340
341public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
342
343public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape);
344
345public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
346
347public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id);
348
349
350public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
351
352public abstract int GetBodyType(BulletBody obj);
353
354public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
355
356public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot);
357
358public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
359
360public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
361
362// =====================================================================================
363public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin);
364
365public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
366 float scaleFactor, float collisionMargin);
367
368// =====================================================================================
369// Constraint creation and helper routines
370public abstract BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
371 Vector3 frame1loc, Quaternion frame1rot,
372 Vector3 frame2loc, Quaternion frame2rot,
373 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
374
375public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
376 Vector3 joinPoint,
377 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
378
379public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
380 Vector3 pivotinA, Vector3 pivotinB,
381 Vector3 axisInA, Vector3 axisInB,
382 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
383
384public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
385
386public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
387
388public abstract bool SetFrames(BulletConstraint constrain,
389 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
390
391public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
392
393public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
394
395public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
396
397public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
398
399public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
400
401public abstract bool CalculateTransforms(BulletConstraint constrain);
402
403public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
404
405public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
406
407// =====================================================================================
408// btCollisionWorld entries
409public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
410
411public abstract void UpdateAabbs(BulletWorld world);
412
413public abstract bool GetForceUpdateAllAabbs(BulletWorld world);
414
415public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
416
417// =====================================================================================
418// btDynamicsWorld entries
419public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
420
421public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
422
423public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
424
425public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
426// =====================================================================================
427// btCollisionObject entries
428public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
429
430public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
431
432public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
433
434public abstract void SetContactProcessingThreshold(BulletBody obj, float val);
435
436public abstract float GetContactProcessingThreshold(BulletBody obj);
437
438public abstract bool IsStaticObject(BulletBody obj);
439
440public abstract bool IsKinematicObject(BulletBody obj);
441
442public abstract bool IsStaticOrKinematicObject(BulletBody obj);
443
444public abstract bool HasContactResponse(BulletBody obj);
445
446public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
447
448public abstract BulletShape GetCollisionShape(BulletBody obj);
449
450public abstract int GetActivationState(BulletBody obj);
451
452public abstract void SetActivationState(BulletBody obj, int state);
453
454public abstract void SetDeactivationTime(BulletBody obj, float dtime);
455
456public abstract float GetDeactivationTime(BulletBody obj);
457
458public abstract void ForceActivationState(BulletBody obj, ActivationState state);
459
460public abstract void Activate(BulletBody obj, bool forceActivation);
461
462public abstract bool IsActive(BulletBody obj);
463
464public abstract void SetRestitution(BulletBody obj, float val);
465
466public abstract float GetRestitution(BulletBody obj);
467
468public abstract void SetFriction(BulletBody obj, float val);
469
470public abstract float GetFriction(BulletBody obj);
471
472public abstract Vector3 GetPosition(BulletBody obj);
473
474public abstract Quaternion GetOrientation(BulletBody obj);
475
476public abstract void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation);
477
478// public abstract IntPtr GetBroadphaseHandle(BulletBody obj);
479
480// public abstract void SetBroadphaseHandle(BulletBody obj, IntPtr handle);
481
482public abstract void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel);
483
484public abstract void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel);
485
486public abstract void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
487
488public abstract float GetHitFraction(BulletBody obj);
489
490public abstract void SetHitFraction(BulletBody obj, float val);
491
492public abstract CollisionFlags GetCollisionFlags(BulletBody obj);
493
494public abstract CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags);
495
496public abstract CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags);
497
498public abstract CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags);
499
500public abstract float GetCcdMotionThreshold(BulletBody obj);
501
502public abstract void SetCcdMotionThreshold(BulletBody obj, float val);
503
504public abstract float GetCcdSweptSphereRadius(BulletBody obj);
505
506public abstract void SetCcdSweptSphereRadius(BulletBody obj, float val);
507
508public abstract IntPtr GetUserPointer(BulletBody obj);
509
510public abstract void SetUserPointer(BulletBody obj, IntPtr val);
511
512// =====================================================================================
513// btRigidBody entries
514public abstract void ApplyGravity(BulletBody obj);
515
516public abstract void SetGravity(BulletBody obj, Vector3 val);
517
518public abstract Vector3 GetGravity(BulletBody obj);
519
520public abstract void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
521
522public abstract void SetLinearDamping(BulletBody obj, float lin_damping);
523
524public abstract void SetAngularDamping(BulletBody obj, float ang_damping);
525
526public abstract float GetLinearDamping(BulletBody obj);
527
528public abstract float GetAngularDamping(BulletBody obj);
529
530public abstract float GetLinearSleepingThreshold(BulletBody obj);
531
532public abstract void ApplyDamping(BulletBody obj, float timeStep);
533
534public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
535
536public abstract Vector3 GetLinearFactor(BulletBody obj);
537
538public abstract void SetLinearFactor(BulletBody obj, Vector3 factor);
539
540public abstract void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
541
542// Add a force to the object as if its mass is one.
543public abstract void ApplyCentralForce(BulletBody obj, Vector3 force);
544
545// Set the force being applied to the object as if its mass is one.
546public abstract void SetObjectForce(BulletBody obj, Vector3 force);
547
548public abstract Vector3 GetTotalForce(BulletBody obj);
549
550public abstract Vector3 GetTotalTorque(BulletBody obj);
551
552public abstract Vector3 GetInvInertiaDiagLocal(BulletBody obj);
553
554public abstract void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
555
556public abstract void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
557
558public abstract void ApplyTorque(BulletBody obj, Vector3 torque);
559
560// Apply force at the given point. Will add torque to the object.
561public abstract void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
562
563// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
564public abstract void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
565
566// Apply impulse to the object's torque. Force is scaled by object's mass.
567public abstract void ApplyTorqueImpulse(BulletBody obj, Vector3 imp);
568
569// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
570public abstract void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
571
572public abstract void ClearForces(BulletBody obj);
573
574public abstract void ClearAllForces(BulletBody obj);
575
576public abstract void UpdateInertiaTensor(BulletBody obj);
577
578public abstract Vector3 GetLinearVelocity(BulletBody obj);
579
580public abstract Vector3 GetAngularVelocity(BulletBody obj);
581
582public abstract void SetLinearVelocity(BulletBody obj, Vector3 val);
583
584public abstract void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
585
586public abstract Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
587
588public abstract void Translate(BulletBody obj, Vector3 trans);
589
590public abstract void UpdateDeactivation(BulletBody obj, float timeStep);
591
592public abstract bool WantsSleeping(BulletBody obj);
593
594public abstract void SetAngularFactor(BulletBody obj, float factor);
595
596public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor);
597
598public abstract Vector3 GetAngularFactor(BulletBody obj);
599
600public abstract bool IsInWorld(BulletBody obj);
601
602public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
603
604public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
605
606public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index);
607
608public abstract int GetNumConstraintRefs(BulletBody obj);
609
610public abstract bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
611
612// =====================================================================================
613// btCollisionShape entries
614
615public abstract float GetAngularMotionDisc(BulletShape shape);
616
617public abstract float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
618
619public abstract bool IsPolyhedral(BulletShape shape);
620
621public abstract bool IsConvex2d(BulletShape shape);
622
623public abstract bool IsConvex(BulletShape shape);
624
625public abstract bool IsNonMoving(BulletShape shape);
626
627public abstract bool IsConcave(BulletShape shape);
628
629public abstract bool IsCompound(BulletShape shape);
630
631public abstract bool IsSoftBody(BulletShape shape);
632
633public abstract bool IsInfinite(BulletShape shape);
634
635public abstract void SetLocalScaling(BulletShape shape, Vector3 scale);
636
637public abstract Vector3 GetLocalScaling(BulletShape shape);
638
639public abstract Vector3 CalculateLocalInertia(BulletShape shape, float mass);
640
641public abstract int GetShapeType(BulletShape shape);
642
643public abstract void SetMargin(BulletShape shape, float val);
644
645public abstract float GetMargin(BulletShape shape);
646
647// =====================================================================================
648// Debugging
649public abstract void DumpRigidBody(BulletWorld sim, BulletBody collisionObject);
650
651public abstract void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape);
652
653public abstract void DumpConstraint(BulletWorld sim, BulletConstraint constrain);
654
655public abstract void DumpActivationInfo(BulletWorld sim);
656
657public abstract void DumpAllInfo(BulletWorld sim);
658
659public abstract void DumpPhysicsStatistics(BulletWorld sim);
660
661};
662}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 3b77e49..103d8fc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -137,7 +137,7 @@ public sealed class BSCharacter : BSPhysObject
137 137
138 private void SetPhysicalProperties() 138 private void SetPhysicalProperties()
139 { 139 {
140 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); 140 PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
141 141
142 ZeroMotion(true); 142 ZeroMotion(true);
143 ForcePosition = _position; 143 ForcePosition = _position;
@@ -152,32 +152,32 @@ public sealed class BSCharacter : BSPhysObject
152 // Needs to be reset especially when an avatar is recreated after crossing a region boundry. 152 // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
153 Flying = _flying; 153 Flying = _flying;
154 154
155 BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution); 155 PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
156 BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); 156 PhysicsScene.PE.SetMargin(PhysShape, PhysicsScene.Params.collisionMargin);
157 BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); 157 PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
158 BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); 158 PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
159 if (BSParam.CcdMotionThreshold > 0f) 159 if (BSParam.CcdMotionThreshold > 0f)
160 { 160 {
161 BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); 161 PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
162 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); 162 PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
163 } 163 }
164 164
165 UpdatePhysicalMassProperties(RawMass, false); 165 UpdatePhysicalMassProperties(RawMass, false);
166 166
167 // Make so capsule does not fall over 167 // Make so capsule does not fall over
168 BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); 168 PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
169 169
170 BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); 170 PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
171 171
172 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); 172 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
173 173
174 // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); 174 // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
175 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION); 175 PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
176 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); 176 PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
177 177
178 // Do this after the object has been added to the world 178 // Do this after the object has been added to the world
179 PhysBody.collisionType = CollisionType.Avatar; 179 PhysBody.collisionType = CollisionType.Avatar;
180 PhysBody.ApplyCollisionMask(); 180 PhysBody.ApplyCollisionMask(PhysicsScene);
181 } 181 }
182 182
183 // The avatar's movement is controlled by this motor that speeds up and slows down 183 // The avatar's movement is controlled by this motor that speeds up and slows down
@@ -210,8 +210,7 @@ public sealed class BSCharacter : BSPhysObject
210 if (!Flying && !IsColliding) 210 if (!Flying && !IsColliding)
211 { 211 {
212 stepVelocity.Z = _velocity.Z; 212 stepVelocity.Z = _velocity.Z;
213 DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", 213 // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
214 LocalID, stepVelocity);
215 } 214 }
216 215
217 // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. 216 // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
@@ -231,8 +230,7 @@ public sealed class BSCharacter : BSPhysObject
231 AddForce(moveForce, false, true); 230 AddForce(moveForce, false, true);
232 } 231 }
233 */ 232 */
234 DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", 233 // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
235 LocalID, stepVelocity, _velocity, Mass, moveForce);
236 AddForce(moveForce, false, true); 234 AddForce(moveForce, false, true);
237 }); 235 });
238 } 236 }
@@ -267,10 +265,10 @@ public sealed class BSCharacter : BSPhysObject
267 { 265 {
268 if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) 266 if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
269 { 267 {
270 BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); 268 PhysicsScene.PE.SetLocalScaling(PhysShape, Scale);
271 UpdatePhysicalMassProperties(RawMass, true); 269 UpdatePhysicalMassProperties(RawMass, true);
272 // Make sure this change appears as a property update event 270 // Make sure this change appears as a property update event
273 BulletSimAPI.PushUpdate2(PhysBody.ptr); 271 PhysicsScene.PE.PushUpdate(PhysBody);
274 } 272 }
275 }); 273 });
276 274
@@ -311,7 +309,7 @@ public sealed class BSCharacter : BSPhysObject
311 PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() 309 PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
312 { 310 {
313 if (PhysBody.HasPhysicalBody) 311 if (PhysBody.HasPhysicalBody)
314 BulletSimAPI.ClearAllForces2(PhysBody.ptr); 312 PhysicsScene.PE.ClearAllForces(PhysBody);
315 }); 313 });
316 } 314 }
317 public override void ZeroAngularMotion(bool inTaintTime) 315 public override void ZeroAngularMotion(bool inTaintTime)
@@ -322,10 +320,10 @@ public sealed class BSCharacter : BSPhysObject
322 { 320 {
323 if (PhysBody.HasPhysicalBody) 321 if (PhysBody.HasPhysicalBody)
324 { 322 {
325 BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); 323 PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
326 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); 324 PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero);
327 // The next also get rid of applied linear force but the linear velocity is untouched. 325 // The next also get rid of applied linear force but the linear velocity is untouched.
328 BulletSimAPI.ClearForces2(PhysBody.ptr); 326 PhysicsScene.PE.ClearForces(PhysBody);
329 } 327 }
330 }); 328 });
331 } 329 }
@@ -341,7 +339,7 @@ public sealed class BSCharacter : BSPhysObject
341 public override OMV.Vector3 Position { 339 public override OMV.Vector3 Position {
342 get { 340 get {
343 // Don't refetch the position because this function is called a zillion times 341 // Don't refetch the position because this function is called a zillion times
344 // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID); 342 // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID);
345 return _position; 343 return _position;
346 } 344 }
347 set { 345 set {
@@ -352,19 +350,19 @@ public sealed class BSCharacter : BSPhysObject
352 { 350 {
353 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 351 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
354 if (PhysBody.HasPhysicalBody) 352 if (PhysBody.HasPhysicalBody)
355 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); 353 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
356 }); 354 });
357 } 355 }
358 } 356 }
359 public override OMV.Vector3 ForcePosition { 357 public override OMV.Vector3 ForcePosition {
360 get { 358 get {
361 _position = BulletSimAPI.GetPosition2(PhysBody.ptr); 359 _position = PhysicsScene.PE.GetPosition(PhysBody);
362 return _position; 360 return _position;
363 } 361 }
364 set { 362 set {
365 _position = value; 363 _position = value;
366 PositionSanityCheck(); 364 PositionSanityCheck();
367 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); 365 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
368 } 366 }
369 } 367 }
370 368
@@ -420,7 +418,7 @@ public sealed class BSCharacter : BSPhysObject
420 { 418 {
421 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); 419 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
422 if (PhysBody.HasPhysicalBody) 420 if (PhysBody.HasPhysicalBody)
423 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); 421 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
424 }); 422 });
425 ret = true; 423 ret = true;
426 } 424 }
@@ -435,8 +433,8 @@ public sealed class BSCharacter : BSPhysObject
435 } 433 }
436 public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) 434 public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
437 { 435 {
438 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); 436 OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
439 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); 437 PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia);
440 } 438 }
441 439
442 public override OMV.Vector3 Force { 440 public override OMV.Vector3 Force {
@@ -448,7 +446,7 @@ public sealed class BSCharacter : BSPhysObject
448 { 446 {
449 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); 447 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
450 if (PhysBody.HasPhysicalBody) 448 if (PhysBody.HasPhysicalBody)
451 BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); 449 PhysicsScene.PE.SetObjectForce(PhysBody, _force);
452 }); 450 });
453 } 451 }
454 } 452 }
@@ -522,7 +520,7 @@ public sealed class BSCharacter : BSPhysObject
522 { 520 {
523 _currentFriction = BSParam.AvatarStandingFriction; 521 _currentFriction = BSParam.AvatarStandingFriction;
524 if (PhysBody.HasPhysicalBody) 522 if (PhysBody.HasPhysicalBody)
525 BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); 523 PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
526 } 524 }
527 } 525 }
528 else 526 else
@@ -531,12 +529,12 @@ public sealed class BSCharacter : BSPhysObject
531 { 529 {
532 _currentFriction = BSParam.AvatarFriction; 530 _currentFriction = BSParam.AvatarFriction;
533 if (PhysBody.HasPhysicalBody) 531 if (PhysBody.HasPhysicalBody)
534 BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); 532 PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
535 } 533 }
536 } 534 }
537 535
538 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); 536 PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
539 BulletSimAPI.Activate2(PhysBody.ptr, true); 537 PhysicsScene.PE.Activate(PhysBody, true);
540 } 538 }
541 } 539 }
542 public override OMV.Vector3 Torque { 540 public override OMV.Vector3 Torque {
@@ -578,7 +576,7 @@ public sealed class BSCharacter : BSPhysObject
578 { 576 {
579 get 577 get
580 { 578 {
581 _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); 579 _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
582 return _orientation; 580 return _orientation;
583 } 581 }
584 set 582 set
@@ -586,8 +584,8 @@ public sealed class BSCharacter : BSPhysObject
586 _orientation = value; 584 _orientation = value;
587 if (PhysBody.HasPhysicalBody) 585 if (PhysBody.HasPhysicalBody)
588 { 586 {
589 // _position = BulletSimAPI.GetPosition2(BSBody.ptr); 587 // _position = PhysicsScene.PE.GetPosition(BSBody);
590 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); 588 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
591 } 589 }
592 } 590 }
593 } 591 }
@@ -638,9 +636,9 @@ public sealed class BSCharacter : BSPhysObject
638 if (PhysBody.HasPhysicalBody) 636 if (PhysBody.HasPhysicalBody)
639 { 637 {
640 if (_floatOnWater) 638 if (_floatOnWater)
641 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); 639 CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
642 else 640 else
643 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); 641 CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
644 } 642 }
645 }); 643 });
646 } 644 }
@@ -678,7 +676,7 @@ public sealed class BSCharacter : BSPhysObject
678 // Buoyancy is faked by changing the gravity applied to the object 676 // Buoyancy is faked by changing the gravity applied to the object
679 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); 677 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
680 if (PhysBody.HasPhysicalBody) 678 if (PhysBody.HasPhysicalBody)
681 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); 679 PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav));
682 } 680 }
683 } 681 }
684 682
@@ -736,10 +734,10 @@ public sealed class BSCharacter : BSPhysObject
736 PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() 734 PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate()
737 { 735 {
738 // Bullet adds this central force to the total force for this tick 736 // Bullet adds this central force to the total force for this tick
739 DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); 737 // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
740 if (PhysBody.HasPhysicalBody) 738 if (PhysBody.HasPhysicalBody)
741 { 739 {
742 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); 740 PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
743 } 741 }
744 }); 742 });
745 } 743 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 59584b2..b813974 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -37,6 +37,7 @@ public abstract class BSConstraint : IDisposable
37 private static string LogHeader = "[BULLETSIM CONSTRAINT]"; 37 private static string LogHeader = "[BULLETSIM CONSTRAINT]";
38 38
39 protected BulletWorld m_world; 39 protected BulletWorld m_world;
40 protected BSScene PhysicsScene;
40 protected BulletBody m_body1; 41 protected BulletBody m_body1;
41 protected BulletBody m_body2; 42 protected BulletBody m_body2;
42 protected BulletConstraint m_constraint; 43 protected BulletConstraint m_constraint;
@@ -48,8 +49,10 @@ public abstract class BSConstraint : IDisposable
48 public abstract ConstraintType Type { get; } 49 public abstract ConstraintType Type { get; }
49 public bool IsEnabled { get { return m_enabled; } } 50 public bool IsEnabled { get { return m_enabled; } }
50 51
51 public BSConstraint() 52 public BSConstraint(BulletWorld world)
52 { 53 {
54 m_world = world;
55 PhysicsScene = m_world.physicsScene;
53 } 56 }
54 57
55 public virtual void Dispose() 58 public virtual void Dispose()
@@ -59,11 +62,11 @@ public abstract class BSConstraint : IDisposable
59 m_enabled = false; 62 m_enabled = false;
60 if (m_constraint.HasPhysicalConstraint) 63 if (m_constraint.HasPhysicalConstraint)
61 { 64 {
62 bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); 65 bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint);
63 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", 66 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
64 BSScene.DetailLogZero, 67 BSScene.DetailLogZero,
65 m_body1.ID, m_body1.ptr.ToString("X"), 68 m_body1.ID, m_body1.AddrString,
66 m_body2.ID, m_body2.ptr.ToString("X"), 69 m_body2.ID, m_body2.AddrString,
67 success); 70 success);
68 m_constraint.Clear(); 71 m_constraint.Clear();
69 } 72 }
@@ -74,7 +77,7 @@ public abstract class BSConstraint : IDisposable
74 { 77 {
75 bool ret = false; 78 bool ret = false;
76 if (m_enabled) 79 if (m_enabled)
77 ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high); 80 ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
78 return ret; 81 return ret;
79 } 82 }
80 83
@@ -82,7 +85,7 @@ public abstract class BSConstraint : IDisposable
82 { 85 {
83 bool ret = false; 86 bool ret = false;
84 if (m_enabled) 87 if (m_enabled)
85 ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high); 88 ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
86 return ret; 89 return ret;
87 } 90 }
88 91
@@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable
91 bool ret = false; 94 bool ret = false;
92 if (m_enabled) 95 if (m_enabled)
93 { 96 {
94 BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt); 97 PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt);
95 ret = true; 98 ret = true;
96 } 99 }
97 return ret; 100 return ret;
@@ -103,7 +106,7 @@ public abstract class BSConstraint : IDisposable
103 if (m_enabled) 106 if (m_enabled)
104 { 107 {
105 // Recompute the internal transforms 108 // Recompute the internal transforms
106 BulletSimAPI.CalculateTransforms2(m_constraint.ptr); 109 PhysicsScene.PE.CalculateTransforms(m_constraint);
107 ret = true; 110 ret = true;
108 } 111 }
109 return ret; 112 return ret;
@@ -122,7 +125,7 @@ public abstract class BSConstraint : IDisposable
122 // Setting an object's mass to zero (making it static like when it's selected) 125 // Setting an object's mass to zero (making it static like when it's selected)
123 // automatically disables the constraints. 126 // automatically disables the constraints.
124 // If the link is enabled, be sure to set the constraint itself to enabled. 127 // If the link is enabled, be sure to set the constraint itself to enabled.
125 BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true)); 128 PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true));
126 } 129 }
127 else 130 else
128 { 131 {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
index b946870..ecb1b32 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
@@ -43,46 +43,44 @@ public sealed class BSConstraint6Dof : BSConstraint
43 Vector3 frame1, Quaternion frame1rot, 43 Vector3 frame1, Quaternion frame1rot,
44 Vector3 frame2, Quaternion frame2rot, 44 Vector3 frame2, Quaternion frame2rot,
45 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 45 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
46 : base(world)
46 { 47 {
47 m_world = world;
48 m_body1 = obj1; 48 m_body1 = obj1;
49 m_body2 = obj2; 49 m_body2 = obj2;
50 m_constraint = new BulletConstraint( 50 m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
51 BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
52 frame1, frame1rot, 51 frame1, frame1rot,
53 frame2, frame2rot, 52 frame2, frame2rot,
54 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); 53 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
55 m_enabled = true; 54 m_enabled = true;
56 world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", 55 world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
57 BSScene.DetailLogZero, world.worldID, 56 BSScene.DetailLogZero, world.worldID,
58 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); 57 obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
59 } 58 }
60 59
61 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, 60 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
62 Vector3 joinPoint, 61 Vector3 joinPoint,
63 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 62 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
63 : base(world)
64 { 64 {
65 m_world = world;
66 m_body1 = obj1; 65 m_body1 = obj1;
67 m_body2 = obj2; 66 m_body2 = obj2;
68 if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody) 67 if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
69 { 68 {
70 world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", 69 world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
71 BSScene.DetailLogZero, world.worldID, 70 BSScene.DetailLogZero, world.worldID,
72 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); 71 obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
73 world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", 72 world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
74 LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); 73 LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
75 m_enabled = false; 74 m_enabled = false;
76 } 75 }
77 else 76 else
78 { 77 {
79 m_constraint = new BulletConstraint( 78 m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
80 BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
81 joinPoint, 79 joinPoint,
82 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); 80 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
83 world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", 81 PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
84 BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"), 82 BSScene.DetailLogZero, world.worldID, m_constraint.AddrString,
85 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); 83 obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
86 if (!m_constraint.HasPhysicalConstraint) 84 if (!m_constraint.HasPhysicalConstraint)
87 { 85 {
88 world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", 86 world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
@@ -101,7 +99,7 @@ public sealed class BSConstraint6Dof : BSConstraint
101 bool ret = false; 99 bool ret = false;
102 if (m_enabled) 100 if (m_enabled)
103 { 101 {
104 BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); 102 PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot);
105 ret = true; 103 ret = true;
106 } 104 }
107 return ret; 105 return ret;
@@ -112,9 +110,9 @@ public sealed class BSConstraint6Dof : BSConstraint
112 bool ret = false; 110 bool ret = false;
113 if (m_enabled) 111 if (m_enabled)
114 { 112 {
115 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); 113 PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
116 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); 114 PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
117 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); 115 PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
118 ret = true; 116 ret = true;
119 } 117 }
120 return ret; 118 return ret;
@@ -125,7 +123,7 @@ public sealed class BSConstraint6Dof : BSConstraint
125 bool ret = false; 123 bool ret = false;
126 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; 124 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
127 if (m_enabled) 125 if (m_enabled)
128 ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff); 126 ret = PhysicsScene.PE.UseFrameOffset(m_constraint, onOff);
129 return ret; 127 return ret;
130 } 128 }
131 129
@@ -135,7 +133,7 @@ public sealed class BSConstraint6Dof : BSConstraint
135 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; 133 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
136 if (m_enabled) 134 if (m_enabled)
137 { 135 {
138 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce); 136 ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce);
139 m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}", 137 m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
140 BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce); 138 BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
141 } 139 }
@@ -146,7 +144,7 @@ public sealed class BSConstraint6Dof : BSConstraint
146 { 144 {
147 bool ret = false; 145 bool ret = false;
148 if (m_enabled) 146 if (m_enabled)
149 ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); 147 ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold);
150 return ret; 148 return ret;
151 } 149 }
152} 150}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
index a5378b9..7714a03 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
@@ -40,15 +40,13 @@ public sealed class BSConstraintHinge : BSConstraint
40 Vector3 pivotInA, Vector3 pivotInB, 40 Vector3 pivotInA, Vector3 pivotInB,
41 Vector3 axisInA, Vector3 axisInB, 41 Vector3 axisInA, Vector3 axisInB,
42 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 42 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
43 : base(world)
43 { 44 {
44 m_world = world;
45 m_body1 = obj1; 45 m_body1 = obj1;
46 m_body2 = obj2; 46 m_body2 = obj2;
47 m_constraint = new BulletConstraint( 47 m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
48 BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, 48 pivotInA, pivotInB, axisInA, axisInB,
49 pivotInA, pivotInB, 49 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
50 axisInA, axisInB,
51 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
52 m_enabled = true; 50 m_enabled = true;
53 } 51 }
54 52
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 0bdfbe3..13c2539 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -558,30 +558,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin
558 558
559 // Friction affects are handled by this vehicle code 559 // Friction affects are handled by this vehicle code
560 float friction = 0f; 560 float friction = 0f;
561 BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction); 561 PhysicsScene.PE.SetFriction(Prim.PhysBody, friction);
562 562
563 // Moderate angular movement introduced by Bullet. 563 // Moderate angular movement introduced by Bullet.
564 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. 564 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
565 // Maybe compute linear and angular factor and damping from params. 565 // Maybe compute linear and angular factor and damping from params.
566 float angularDamping = BSParam.VehicleAngularDamping; 566 float angularDamping = BSParam.VehicleAngularDamping;
567 BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); 567 PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
568 568
569 // Vehicles report collision events so we know when it's on the ground 569 // Vehicles report collision events so we know when it's on the ground
570 BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); 570 PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
571 571
572 Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); 572 Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass);
573 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); 573 PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, localInertia);
574 BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); 574 PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody);
575 575
576 Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); 576 Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy);
577 BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav); 577 PhysicsScene.PE.SetGravity(Prim.PhysBody, grav);
578 578
579 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", 579 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
580 Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); 580 Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
581 } 581 }
582 else 582 else
583 { 583 {
584 BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); 584 PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
585 } 585 }
586 } 586 }
587 587
@@ -651,7 +651,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
651 if ((m_knownChanged & m_knownChangedVelocity) != 0) 651 if ((m_knownChanged & m_knownChangedVelocity) != 0)
652 { 652 {
653 Prim.ForceVelocity = m_knownVelocity; 653 Prim.ForceVelocity = m_knownVelocity;
654 BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); 654 PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, VehicleVelocity);
655 } 655 }
656 656
657 if ((m_knownChanged & m_knownChangedForce) != 0) 657 if ((m_knownChanged & m_knownChangedForce) != 0)
@@ -661,7 +661,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
661 { 661 {
662 Prim.ForceRotationalVelocity = m_knownRotationalVelocity; 662 Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
663 // Fake out Bullet by making it think the velocity is the same as last time. 663 // Fake out Bullet by making it think the velocity is the same as last time.
664 BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity); 664 PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
665 } 665 }
666 666
667 if ((m_knownChanged & m_knownChangedRotationalForce) != 0) 667 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
@@ -669,7 +669,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
669 669
670 // If we set one of the values (ie, the physics engine didn't do it) we must force 670 // If we set one of the values (ie, the physics engine didn't do it) we must force
671 // an UpdateProperties event to send the changes up to the simulator. 671 // an UpdateProperties event to send the changes up to the simulator.
672 BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); 672 PhysicsScene.PE.PushUpdate(Prim.PhysBody);
673 } 673 }
674 m_knownChanged = 0; 674 m_knownChanged = 0;
675 } 675 }
@@ -823,7 +823,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
823 if (!IsActive) return; 823 if (!IsActive) return;
824 824
825 if (PhysicsScene.VehiclePhysicalLoggingEnabled) 825 if (PhysicsScene.VehiclePhysicalLoggingEnabled)
826 BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr); 826 PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
827 827
828 ForgetKnownVehicleProperties(); 828 ForgetKnownVehicleProperties();
829 829
@@ -840,7 +840,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
840 PushKnownChanged(); 840 PushKnownChanged();
841 841
842 if (PhysicsScene.VehiclePhysicalLoggingEnabled) 842 if (PhysicsScene.VehiclePhysicalLoggingEnabled)
843 BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr); 843 PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
844 844
845 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 845 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
846 Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); 846 Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 19ce62b..bd03d31 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -131,10 +131,10 @@ public sealed class BSLinksetCompound : BSLinkset
131 { 131 {
132 // The origional prims are removed from the world as the shape of the root compound 132 // The origional prims are removed from the world as the shape of the root compound
133 // shape takes over. 133 // shape takes over.
134 BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); 134 PhysicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
135 BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); 135 PhysicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION);
136 // We don't want collisions from the old linkset children. 136 // We don't want collisions from the old linkset children.
137 BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 137 PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
138 138
139 child.PhysBody.collisionType = CollisionType.LinksetChild; 139 child.PhysBody.collisionType = CollisionType.LinksetChild;
140 140
@@ -159,12 +159,12 @@ public sealed class BSLinksetCompound : BSLinkset
159 else 159 else
160 { 160 {
161 // The non-physical children can come back to life. 161 // The non-physical children can come back to life.
162 BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); 162 PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
163 163
164 child.PhysBody.collisionType = CollisionType.LinksetChild; 164 child.PhysBody.collisionType = CollisionType.LinksetChild;
165 165
166 // Don't force activation so setting of DISABLE_SIMULATION can stay if used. 166 // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
167 BulletSimAPI.Activate2(child.PhysBody.ptr, false); 167 PhysicsScene.PE.Activate(child.PhysBody, false);
168 ret = true; 168 ret = true;
169 } 169 }
170 return ret; 170 return ret;
@@ -196,7 +196,7 @@ public sealed class BSLinksetCompound : BSLinkset
196 bool ret = false; 196 bool ret = false;
197 197
198 DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", 198 DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
199 child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child)); 199 child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, IsRoot(child));
200 200
201 if (!IsRoot(child)) 201 if (!IsRoot(child))
202 { 202 {
@@ -280,8 +280,8 @@ public sealed class BSLinksetCompound : BSLinkset
280 { 280 {
281 DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", 281 DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
282 child.LocalID, 282 child.LocalID,
283 LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), 283 LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString,
284 child.LocalID, child.PhysBody.ptr.ToString("X")); 284 child.LocalID, child.PhysBody.AddrString);
285 285
286 // Cause the child's body to be rebuilt and thus restored to normal operation 286 // Cause the child's body to be rebuilt and thus restored to normal operation
287 RecomputeChildWorldPosition(child, false); 287 RecomputeChildWorldPosition(child, false);
@@ -359,7 +359,7 @@ public sealed class BSLinksetCompound : BSLinkset
359 PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); 359 PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
360 BulletShape newShape = cPrim.PhysShape; 360 BulletShape newShape = cPrim.PhysShape;
361 cPrim.PhysShape = saveShape; 361 cPrim.PhysShape = saveShape;
362 BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot); 362 PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, lci.OffsetPos, lci.OffsetRot);
363 } 363 }
364 else 364 else
365 { 365 {
@@ -371,7 +371,7 @@ public sealed class BSLinksetCompound : BSLinkset
371 PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", 371 PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
372 LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); 372 LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
373 } 373 }
374 BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot); 374 PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
375 } 375 }
376 } 376 }
377 return false; // 'false' says to move onto the next child in the list 377 return false; // 'false' says to move onto the next child in the list
@@ -386,12 +386,7 @@ public sealed class BSLinksetCompound : BSLinkset
386 Rebuilding = false; 386 Rebuilding = false;
387 } 387 }
388 388
389 BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr); 389 PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape);
390
391 // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
392 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
393 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
394
395 } 390 }
396} 391}
397} \ No newline at end of file 392} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 6b592e7..d0b2a56 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -48,12 +48,15 @@ public sealed class BSLinksetConstraints : BSLinkset
48 { 48 {
49 base.Refresh(requestor); 49 base.Refresh(requestor);
50 50
51 // Queue to happen after all the other taint processing 51 if (HasAnyChildren && IsRoot(requestor))
52 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() 52 {
53 { 53 // Queue to happen after all the other taint processing
54 if (HasAnyChildren && IsRoot(requestor)) 54 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
55 RecomputeLinksetConstraints(); 55 {
56 }); 56 if (HasAnyChildren && IsRoot(requestor))
57 RecomputeLinksetConstraints();
58 });
59 }
57 } 60 }
58 61
59 // The object is going dynamic (physical). Do any setup necessary 62 // The object is going dynamic (physical). Do any setup necessary
@@ -95,7 +98,7 @@ public sealed class BSLinksetConstraints : BSLinkset
95 bool ret = false; 98 bool ret = false;
96 99
97 DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", 100 DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
98 child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X")); 101 child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString);
99 102
100 lock (m_linksetActivityLock) 103 lock (m_linksetActivityLock)
101 { 104 {
@@ -144,8 +147,8 @@ public sealed class BSLinksetConstraints : BSLinkset
144 147
145 DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", 148 DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
146 childx.LocalID, 149 childx.LocalID,
147 rootx.LocalID, rootx.PhysBody.ptr.ToString("X"), 150 rootx.LocalID, rootx.PhysBody.AddrString,
148 childx.LocalID, childx.PhysBody.ptr.ToString("X")); 151 childx.LocalID, childx.PhysBody.AddrString);
149 152
150 PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() 153 PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
151 { 154 {
@@ -184,8 +187,8 @@ public sealed class BSLinksetConstraints : BSLinkset
184 187
185 DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", 188 DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
186 rootPrim.LocalID, 189 rootPrim.LocalID,
187 rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"), 190 rootPrim.LocalID, rootPrim.PhysBody.AddrString,
188 childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"), 191 childPrim.LocalID, childPrim.PhysBody.AddrString,
189 rootPrim.Position, childPrim.Position, midPoint); 192 rootPrim.Position, childPrim.Position, midPoint);
190 193
191 // create a constraint that allows no freedom of movement between the two objects 194 // create a constraint that allows no freedom of movement between the two objects
@@ -249,14 +252,14 @@ public sealed class BSLinksetConstraints : BSLinkset
249 bool ret = false; 252 bool ret = false;
250 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", 253 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
251 rootPrim.LocalID, 254 rootPrim.LocalID,
252 rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"), 255 rootPrim.LocalID, rootPrim.PhysBody.AddrString,
253 childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X")); 256 childPrim.LocalID, childPrim.PhysBody.AddrString);
254 257
255 // Find the constraint for this link and get rid of it from the overall collection and from my list 258 // Find the constraint for this link and get rid of it from the overall collection and from my list
256 if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) 259 if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
257 { 260 {
258 // Make the child refresh its location 261 // Make the child refresh its location
259 BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr); 262 PhysicsScene.PE.PushUpdate(childPrim.PhysBody);
260 ret = true; 263 ret = true;
261 } 264 }
262 265
@@ -283,11 +286,8 @@ public sealed class BSLinksetConstraints : BSLinkset
283 float linksetMass = LinksetMass; 286 float linksetMass = LinksetMass;
284 LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true); 287 LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
285 288
286 // DEBUG: see of inter-linkset collisions are causing problems
287 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
288 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
289 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", 289 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
290 LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); 290 LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
291 291
292 foreach (BSPhysObject child in m_children) 292 foreach (BSPhysObject child in m_children)
293 { 293 {
@@ -304,11 +304,7 @@ public sealed class BSLinksetConstraints : BSLinkset
304 } 304 }
305 constrain.RecomputeConstraintVariables(linksetMass); 305 constrain.RecomputeConstraintVariables(linksetMass);
306 306
307 // DEBUG: see of inter-linkset collisions are causing problems 307 // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG
308 // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr,
309 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
310
311 // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG
312 } 308 }
313 309
314 } 310 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 5c8553a..339722e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -280,7 +280,7 @@ public static class BSParam
280 (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); }, 280 (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); },
281 (s) => { return s.UnmanagedParams[0].gravity; }, 281 (s) => { return s.UnmanagedParams[0].gravity; },
282 (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); }, 282 (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); },
283 (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), 283 (s,o,v) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,v)); } ),
284 284
285 285
286 new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", 286 new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
@@ -288,49 +288,49 @@ public static class BSParam
288 (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, 288 (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); },
289 (s) => { return LinearDamping; }, 289 (s) => { return LinearDamping; },
290 (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); }, 290 (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); },
291 (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ), 291 (s,o,v) => { s.PE.SetDamping(o.PhysBody, v, AngularDamping); } ),
292 new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", 292 new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
293 0f, 293 0f,
294 (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, 294 (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); },
295 (s) => { return AngularDamping; }, 295 (s) => { return AngularDamping; },
296 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); }, 296 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); },
297 (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ), 297 (s,o,v) => { s.PE.SetDamping(o.PhysBody, LinearDamping, v); } ),
298 new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", 298 new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
299 0.2f, 299 0.2f,
300 (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, 300 (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
301 (s) => { return DeactivationTime; }, 301 (s) => { return DeactivationTime; },
302 (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); }, 302 (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); },
303 (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), 303 (s,o,v) => { s.PE.SetDeactivationTime(o.PhysBody, v); } ),
304 new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", 304 new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
305 0.8f, 305 0.8f,
306 (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, 306 (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
307 (s) => { return LinearSleepingThreshold; }, 307 (s) => { return LinearSleepingThreshold; },
308 (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); }, 308 (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); },
309 (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), 309 (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
310 new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", 310 new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
311 1.0f, 311 1.0f,
312 (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, 312 (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); },
313 (s) => { return AngularSleepingThreshold; }, 313 (s) => { return AngularSleepingThreshold; },
314 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, 314 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); },
315 (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), 315 (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
316 new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , 316 new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
317 0f, // set to zero to disable 317 0f, // set to zero to disable
318 (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, 318 (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
319 (s) => { return CcdMotionThreshold; }, 319 (s) => { return CcdMotionThreshold; },
320 (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, 320 (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
321 (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), 321 (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ),
322 new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 322 new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
323 0f, 323 0f,
324 (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, 324 (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
325 (s) => { return CcdSweptSphereRadius; }, 325 (s) => { return CcdSweptSphereRadius; },
326 (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, 326 (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
327 (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), 327 (s,o,v) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, v); } ),
328 new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , 328 new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
329 0.1f, 329 0.1f,
330 (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, 330 (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
331 (s) => { return ContactProcessingThreshold; }, 331 (s) => { return ContactProcessingThreshold; },
332 (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); }, 332 (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); },
333 (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), 333 (s,o,v) => { s.PE.SetContactProcessingThreshold(o.PhysBody, v); } ),
334 334
335 new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", 335 new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
336 (float)BSTerrainPhys.TerrainImplementation.Mesh, 336 (float)BSTerrainPhys.TerrainImplementation.Mesh,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 73b5764..e7cb3e0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -67,6 +67,11 @@ public abstract class BSPhysObject : PhysicsActor
67 PhysObjectName = name; 67 PhysObjectName = name;
68 TypeName = typeName; 68 TypeName = typeName;
69 69
70 // We don't have any physical representation yet.
71 PhysBody = new BulletBody(localID);
72 PhysShape = new BulletShape();
73
74 // A linkset of just me
70 Linkset = BSLinkset.Factory(PhysicsScene, this); 75 Linkset = BSLinkset.Factory(PhysicsScene, this);
71 LastAssetBuildFailed = false; 76 LastAssetBuildFailed = false;
72 77
@@ -303,7 +308,7 @@ public abstract class BSPhysObject : PhysicsActor
303 PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() 308 PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
304 { 309 {
305 if (PhysBody.HasPhysicalBody) 310 if (PhysBody.HasPhysicalBody)
306 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 311 CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
307 }); 312 });
308 } 313 }
309 else 314 else
@@ -319,7 +324,7 @@ public abstract class BSPhysObject : PhysicsActor
319 { 324 {
320 // Make sure there is a body there because sometimes destruction happens in an un-ideal order. 325 // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
321 if (PhysBody.HasPhysicalBody) 326 if (PhysBody.HasPhysicalBody)
322 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 327 CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
323 }); 328 });
324 } 329 }
325 // Return 'true' if the simulator wants collision events 330 // Return 'true' if the simulator wants collision events
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 5f3f0d1..064ce3c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -111,10 +111,7 @@ public sealed class BSPrim : BSPhysObject
111 111
112 _mass = CalculateMass(); 112 _mass = CalculateMass();
113 113
114 // No body or shape yet 114 // Cause linkset variables to be initialized (like mass)
115 PhysBody = new BulletBody(LocalID);
116 PhysShape = new BulletShape();
117
118 Linkset.Refresh(this); 115 Linkset.Refresh(this);
119 116
120 DetailLog("{0},BSPrim.constructor,call", LocalID); 117 DetailLog("{0},BSPrim.constructor,call", LocalID);
@@ -123,7 +120,7 @@ public sealed class BSPrim : BSPhysObject
123 { 120 {
124 CreateGeomAndObject(true); 121 CreateGeomAndObject(true);
125 122
126 CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr); 123 CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
127 }); 124 });
128 } 125 }
129 126
@@ -256,7 +253,7 @@ public sealed class BSPrim : BSPhysObject
256 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() 253 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
257 { 254 {
258 if (PhysBody.HasPhysicalBody) 255 if (PhysBody.HasPhysicalBody)
259 BulletSimAPI.ClearAllForces2(PhysBody.ptr); 256 PhysicsScene.PE.ClearAllForces(PhysBody);
260 }); 257 });
261 } 258 }
262 public override void ZeroAngularMotion(bool inTaintTime) 259 public override void ZeroAngularMotion(bool inTaintTime)
@@ -268,8 +265,8 @@ public sealed class BSPrim : BSPhysObject
268 // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); 265 // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
269 if (PhysBody.HasPhysicalBody) 266 if (PhysBody.HasPhysicalBody)
270 { 267 {
271 BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); 268 PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
272 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); 269 PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
273 } 270 }
274 }); 271 });
275 } 272 }
@@ -295,7 +292,7 @@ public sealed class BSPrim : BSPhysObject
295 */ 292 */
296 293
297 // don't do the GetObjectPosition for root elements because this function is called a zillion times. 294 // don't do the GetObjectPosition for root elements because this function is called a zillion times.
298 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); 295 // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody);
299 return _position; 296 return _position;
300 } 297 }
301 set { 298 set {
@@ -321,14 +318,14 @@ public sealed class BSPrim : BSPhysObject
321 } 318 }
322 public override OMV.Vector3 ForcePosition { 319 public override OMV.Vector3 ForcePosition {
323 get { 320 get {
324 _position = BulletSimAPI.GetPosition2(PhysBody.ptr); 321 _position = PhysicsScene.PE.GetPosition(PhysBody);
325 return _position; 322 return _position;
326 } 323 }
327 set { 324 set {
328 _position = value; 325 _position = value;
329 if (PhysBody.HasPhysicalBody) 326 if (PhysBody.HasPhysicalBody)
330 { 327 {
331 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); 328 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
332 ActivateIfPhysical(false); 329 ActivateIfPhysical(false);
333 } 330 }
334 } 331 }
@@ -408,10 +405,10 @@ public sealed class BSPrim : BSPhysObject
408 { 405 {
409 if (IsStatic) 406 if (IsStatic)
410 { 407 {
411 BulletSimAPI.SetGravity2(PhysBody.ptr, PhysicsScene.DefaultGravity); 408 PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity);
412 Inertia = OMV.Vector3.Zero; 409 Inertia = OMV.Vector3.Zero;
413 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); 410 PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia);
414 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 411 PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
415 } 412 }
416 else 413 else
417 { 414 {
@@ -422,18 +419,18 @@ public sealed class BSPrim : BSPhysObject
422 // Changing interesting properties doesn't change proxy and collision cache 419 // Changing interesting properties doesn't change proxy and collision cache
423 // information. The Bullet solution is to re-add the object to the world 420 // information. The Bullet solution is to re-add the object to the world
424 // after parameters are changed. 421 // after parameters are changed.
425 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); 422 PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
426 } 423 }
427 424
428 // The computation of mass props requires gravity to be set on the object. 425 // The computation of mass props requires gravity to be set on the object.
429 BulletSimAPI.SetGravity2(PhysBody.ptr, grav); 426 PhysicsScene.PE.SetGravity(PhysBody, grav);
430 427
431 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); 428 Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
432 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); 429 PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
433 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 430 PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
434 431
435 // center of mass is at the zero of the object 432 // center of mass is at the zero of the object
436 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); 433 // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation);
437 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld); 434 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
438 435
439 if (inWorld) 436 if (inWorld)
@@ -443,7 +440,7 @@ public sealed class BSPrim : BSPhysObject
443 440
444 // Must set gravity after it has been added to the world because, for unknown reasons, 441 // Must set gravity after it has been added to the world because, for unknown reasons,
445 // adding the object resets the object's gravity to world gravity 442 // adding the object resets the object's gravity to world gravity
446 BulletSimAPI.SetGravity2(PhysBody.ptr, grav); 443 PhysicsScene.PE.SetGravity(PhysBody, grav);
447 444
448 } 445 }
449 } 446 }
@@ -486,7 +483,7 @@ public sealed class BSPrim : BSPhysObject
486 DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); 483 DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
487 if (PhysBody.HasPhysicalBody) 484 if (PhysBody.HasPhysicalBody)
488 { 485 {
489 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force); 486 PhysicsScene.PE.ApplyCentralForce(PhysBody, _force);
490 ActivateIfPhysical(false); 487 ActivateIfPhysical(false);
491 } 488 }
492 } 489 }
@@ -586,7 +583,7 @@ public sealed class BSPrim : BSPhysObject
586 _velocity = value; 583 _velocity = value;
587 if (PhysBody.HasPhysicalBody) 584 if (PhysBody.HasPhysicalBody)
588 { 585 {
589 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); 586 PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
590 ActivateIfPhysical(false); 587 ActivateIfPhysical(false);
591 } 588 }
592 } 589 }
@@ -652,9 +649,9 @@ public sealed class BSPrim : BSPhysObject
652 { 649 {
653 if (PhysBody.HasPhysicalBody) 650 if (PhysBody.HasPhysicalBody)
654 { 651 {
655 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); 652 // _position = PhysicsScene.PE.GetObjectPosition(PhysicsScene.World, BSBody);
656 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); 653 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
657 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); 654 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
658 } 655 }
659 }); 656 });
660 } 657 }
@@ -664,13 +661,13 @@ public sealed class BSPrim : BSPhysObject
664 { 661 {
665 get 662 get
666 { 663 {
667 _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); 664 _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
668 return _orientation; 665 return _orientation;
669 } 666 }
670 set 667 set
671 { 668 {
672 _orientation = value; 669 _orientation = value;
673 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); 670 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
674 } 671 }
675 } 672 }
676 public override int PhysicsActorType { 673 public override int PhysicsActorType {
@@ -726,7 +723,7 @@ public sealed class BSPrim : BSPhysObject
726 723
727 // Mangling all the physical properties requires the object not be in the physical world. 724 // Mangling all the physical properties requires the object not be in the physical world.
728 // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). 725 // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
729 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); 726 PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
730 727
731 // Set up the object physicalness (does gravity and collisions move this object) 728 // Set up the object physicalness (does gravity and collisions move this object)
732 MakeDynamic(IsStatic); 729 MakeDynamic(IsStatic);
@@ -743,7 +740,7 @@ public sealed class BSPrim : BSPhysObject
743 AddObjectToPhysicalWorld(); 740 AddObjectToPhysicalWorld();
744 741
745 // Rebuild its shape 742 // Rebuild its shape
746 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); 743 PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
747 744
748 // Recompute any linkset parameters. 745 // Recompute any linkset parameters.
749 // When going from non-physical to physical, this re-enables the constraints that 746 // When going from non-physical to physical, this re-enables the constraints that
@@ -765,28 +762,28 @@ public sealed class BSPrim : BSPhysObject
765 if (makeStatic) 762 if (makeStatic)
766 { 763 {
767 // Become a Bullet 'static' object type 764 // Become a Bullet 'static' object type
768 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); 765 CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
769 // Stop all movement 766 // Stop all movement
770 ZeroMotion(true); 767 ZeroMotion(true);
771 768
772 // Set various physical properties so other object interact properly 769 // Set various physical properties so other object interact properly
773 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); 770 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
774 BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); 771 PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
775 BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); 772 PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
776 773
777 // Mass is zero which disables a bunch of physics stuff in Bullet 774 // Mass is zero which disables a bunch of physics stuff in Bullet
778 UpdatePhysicalMassProperties(0f, false); 775 UpdatePhysicalMassProperties(0f, false);
779 // Set collision detection parameters 776 // Set collision detection parameters
780 if (BSParam.CcdMotionThreshold > 0f) 777 if (BSParam.CcdMotionThreshold > 0f)
781 { 778 {
782 BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); 779 PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
783 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); 780 PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
784 } 781 }
785 782
786 // The activation state is 'disabled' so Bullet will not try to act on it. 783 // The activation state is 'disabled' so Bullet will not try to act on it.
787 // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); 784 // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
788 // Start it out sleeping and physical actions could wake it up. 785 // Start it out sleeping and physical actions could wake it up.
789 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); 786 PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
790 787
791 // This collides like a static object 788 // This collides like a static object
792 PhysBody.collisionType = CollisionType.Static; 789 PhysBody.collisionType = CollisionType.Static;
@@ -797,22 +794,22 @@ public sealed class BSPrim : BSPhysObject
797 else 794 else
798 { 795 {
799 // Not a Bullet static object 796 // Not a Bullet static object
800 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); 797 CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
801 798
802 // Set various physical properties so other object interact properly 799 // Set various physical properties so other object interact properly
803 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); 800 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
804 BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); 801 PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
805 BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); 802 PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
806 803
807 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 804 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
808 // Since this can be called multiple times, only zero forces when becoming physical 805 // Since this can be called multiple times, only zero forces when becoming physical
809 // BulletSimAPI.ClearAllForces2(BSBody.ptr); 806 // PhysicsScene.PE.ClearAllForces(BSBody);
810 807
811 // For good measure, make sure the transform is set through to the motion state 808 // For good measure, make sure the transform is set through to the motion state
812 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); 809 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
813 810
814 // Center of mass is at the center of the object 811 // Center of mass is at the center of the object
815 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); 812 // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
816 813
817 // A dynamic object has mass 814 // A dynamic object has mass
818 UpdatePhysicalMassProperties(RawMass, false); 815 UpdatePhysicalMassProperties(RawMass, false);
@@ -820,22 +817,22 @@ public sealed class BSPrim : BSPhysObject
820 // Set collision detection parameters 817 // Set collision detection parameters
821 if (BSParam.CcdMotionThreshold > 0f) 818 if (BSParam.CcdMotionThreshold > 0f)
822 { 819 {
823 BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); 820 PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
824 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); 821 PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
825 } 822 }
826 823
827 // Various values for simulation limits 824 // Various values for simulation limits
828 BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping); 825 PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
829 BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime); 826 PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
830 BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); 827 PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
831 BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); 828 PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
832 829
833 // This collides like an object. 830 // This collides like an object.
834 PhysBody.collisionType = CollisionType.Dynamic; 831 PhysBody.collisionType = CollisionType.Dynamic;
835 832
836 // Force activation of the object so Bullet will act on it. 833 // Force activation of the object so Bullet will act on it.
837 // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. 834 // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
838 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); 835 PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
839 836
840 // There might be special things needed for implementing linksets. 837 // There might be special things needed for implementing linksets.
841 Linkset.MakeDynamic(this); 838 Linkset.MakeDynamic(this);
@@ -848,7 +845,7 @@ public sealed class BSPrim : BSPhysObject
848 // the functions after this one set up the state of a possibly newly created collision body. 845 // the functions after this one set up the state of a possibly newly created collision body.
849 private void MakeSolid(bool makeSolid) 846 private void MakeSolid(bool makeSolid)
850 { 847 {
851 CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr); 848 CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(PhysBody);
852 if (makeSolid) 849 if (makeSolid)
853 { 850 {
854 // Verify the previous code created the correct shape for this type of thing. 851 // Verify the previous code created the correct shape for this type of thing.
@@ -856,7 +853,7 @@ public sealed class BSPrim : BSPhysObject
856 { 853 {
857 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); 854 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
858 } 855 }
859 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); 856 CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
860 } 857 }
861 else 858 else
862 { 859 {
@@ -864,7 +861,7 @@ public sealed class BSPrim : BSPhysObject
864 { 861 {
865 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); 862 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
866 } 863 }
867 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); 864 CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
868 865
869 // Change collision info from a static object to a ghosty collision object 866 // Change collision info from a static object to a ghosty collision object
870 PhysBody.collisionType = CollisionType.VolumeDetect; 867 PhysBody.collisionType = CollisionType.VolumeDetect;
@@ -877,7 +874,7 @@ public sealed class BSPrim : BSPhysObject
877 private void ActivateIfPhysical(bool forceIt) 874 private void ActivateIfPhysical(bool forceIt)
878 { 875 {
879 if (IsPhysical && PhysBody.HasPhysicalBody) 876 if (IsPhysical && PhysBody.HasPhysicalBody)
880 BulletSimAPI.Activate2(PhysBody.ptr, forceIt); 877 PhysicsScene.PE.Activate(PhysBody, forceIt);
881 } 878 }
882 879
883 // Turn on or off the flag controlling whether collision events are returned to the simulator. 880 // Turn on or off the flag controlling whether collision events are returned to the simulator.
@@ -885,11 +882,11 @@ public sealed class BSPrim : BSPhysObject
885 { 882 {
886 if (wantsCollisionEvents) 883 if (wantsCollisionEvents)
887 { 884 {
888 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 885 CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
889 } 886 }
890 else 887 else
891 { 888 {
892 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 889 CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
893 } 890 }
894 } 891 }
895 892
@@ -900,14 +897,14 @@ public sealed class BSPrim : BSPhysObject
900 { 897 {
901 if (PhysBody.HasPhysicalBody) 898 if (PhysBody.HasPhysicalBody)
902 { 899 {
903 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); 900 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
904 901
905 // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. 902 // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
906 // Replace this when the new AddObjectToWorld function is complete. 903 // Replace this when the new AddObjectToWorld function is complete.
907 BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity()); 904 PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity());
908 905
909 // Collision filter can be set only when the object is in the world 906 // Collision filter can be set only when the object is in the world
910 if (!PhysBody.ApplyCollisionMask()) 907 if (!PhysBody.ApplyCollisionMask(PhysicsScene))
911 { 908 {
912 m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); 909 m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
913 DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); 910 DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
@@ -944,9 +941,9 @@ public sealed class BSPrim : BSPhysObject
944 PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() 941 PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
945 { 942 {
946 if (_floatOnWater) 943 if (_floatOnWater)
947 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); 944 CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
948 else 945 else
949 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); 946 CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
950 }); 947 });
951 } 948 }
952 } 949 }
@@ -972,7 +969,7 @@ public sealed class BSPrim : BSPhysObject
972 _rotationalVelocity = value; 969 _rotationalVelocity = value;
973 if (PhysBody.HasPhysicalBody) 970 if (PhysBody.HasPhysicalBody)
974 { 971 {
975 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); 972 PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
976 ActivateIfPhysical(false); 973 ActivateIfPhysical(false);
977 } 974 }
978 } 975 }
@@ -1064,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject
1064 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); 1061 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
1065 if (PhysBody.HasPhysicalBody) 1062 if (PhysBody.HasPhysicalBody)
1066 { 1063 {
1067 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); 1064 PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
1068 ActivateIfPhysical(false); 1065 ActivateIfPhysical(false);
1069 } 1066 }
1070 }); 1067 });
@@ -1088,7 +1085,7 @@ public sealed class BSPrim : BSPhysObject
1088 { 1085 {
1089 if (PhysBody.HasPhysicalBody) 1086 if (PhysBody.HasPhysicalBody)
1090 { 1087 {
1091 BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce); 1088 PhysicsScene.PE.ApplyTorque(PhysBody, angForce);
1092 ActivateIfPhysical(false); 1089 ActivateIfPhysical(false);
1093 } 1090 }
1094 }); 1091 });
@@ -1111,7 +1108,7 @@ public sealed class BSPrim : BSPhysObject
1111 { 1108 {
1112 if (PhysBody.HasPhysicalBody) 1109 if (PhysBody.HasPhysicalBody)
1113 { 1110 {
1114 BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); 1111 PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
1115 ActivateIfPhysical(false); 1112 ActivateIfPhysical(false);
1116 } 1113 }
1117 }); 1114 });
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 4133107..258b72f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -26,6 +26,7 @@
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Reflection;
29using System.Runtime.InteropServices; 30using System.Runtime.InteropServices;
30using System.Text; 31using System.Text;
31using System.Threading; 32using System.Threading;
@@ -42,14 +43,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
42{ 43{
43public sealed class BSScene : PhysicsScene, IPhysicsParameters 44public sealed class BSScene : PhysicsScene, IPhysicsParameters
44{ 45{
45 private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); 46 internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
46 private static readonly string LogHeader = "[BULLETS SCENE]"; 47 internal static readonly string LogHeader = "[BULLETS SCENE]";
47 48
48 // The name of the region we're working for. 49 // The name of the region we're working for.
49 public string RegionName { get; private set; } 50 public string RegionName { get; private set; }
50 51
51 public string BulletSimVersion = "?"; 52 public string BulletSimVersion = "?";
52 53
54 // The handle to the underlying managed or unmanaged version of Bullet being used.
55 public string BulletEngineName { get; private set; }
56 public BSAPITemplate PE;
57
53 public Dictionary<uint, BSPhysObject> PhysObjects; 58 public Dictionary<uint, BSPhysObject> PhysObjects;
54 public BSShapeCollection Shapes; 59 public BSShapeCollection Shapes;
55 60
@@ -99,11 +104,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
99 // Pinned memory used to pass step information between managed and unmanaged 104 // Pinned memory used to pass step information between managed and unmanaged
100 internal int m_maxCollisionsPerFrame; 105 internal int m_maxCollisionsPerFrame;
101 internal CollisionDesc[] m_collisionArray; 106 internal CollisionDesc[] m_collisionArray;
102 internal GCHandle m_collisionArrayPinnedHandle;
103 107
104 internal int m_maxUpdatesPerFrame; 108 internal int m_maxUpdatesPerFrame;
105 internal EntityProperties[] m_updateArray; 109 internal EntityProperties[] m_updateArray;
106 internal GCHandle m_updateArrayPinnedHandle;
107 110
108 public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero 111 public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
109 public const uint GROUNDPLANE_ID = 1; 112 public const uint GROUNDPLANE_ID = 1;
@@ -149,12 +152,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
149 // A pointer to an instance if this structure is passed to the C++ code 152 // A pointer to an instance if this structure is passed to the C++ code
150 // Used to pass basic configuration values to the unmanaged code. 153 // Used to pass basic configuration values to the unmanaged code.
151 internal ConfigurationParameters[] UnmanagedParams; 154 internal ConfigurationParameters[] UnmanagedParams;
152 GCHandle m_paramsHandle;
153
154 // Handle to the callback used by the unmanaged code to call into the managed code.
155 // Used for debug logging.
156 // Need to store the handle in a persistant variable so it won't be freed.
157 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
158 155
159 // Sometimes you just have to log everything. 156 // Sometimes you just have to log everything.
160 public Logging.LogWriter PhysicsLogging; 157 public Logging.LogWriter PhysicsLogging;
@@ -187,16 +184,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
187 184
188 // Allocate pinned memory to pass parameters. 185 // Allocate pinned memory to pass parameters.
189 UnmanagedParams = new ConfigurationParameters[1]; 186 UnmanagedParams = new ConfigurationParameters[1];
190 m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned);
191 187
192 // Set default values for physics parameters plus any overrides from the ini file 188 // Set default values for physics parameters plus any overrides from the ini file
193 GetInitialParameterValues(config); 189 GetInitialParameterValues(config);
194 190
195 // allocate more pinned memory close to the above in an attempt to get the memory all together 191 // Get the connection to the physics engine (could be native or one of many DLLs)
196 m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; 192 PE = SelectUnderlyingBulletEngine(BulletEngineName);
197 m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
198 m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
199 m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
200 193
201 // Enable very detailed logging. 194 // Enable very detailed logging.
202 // By creating an empty logger when not logging, the log message invocation code 195 // By creating an empty logger when not logging, the log message invocation code
@@ -211,22 +204,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
211 PhysicsLogging = new Logging.LogWriter(); 204 PhysicsLogging = new Logging.LogWriter();
212 } 205 }
213 206
214 // If Debug logging level, enable logging from the unmanaged code 207 // Allocate memory for returning of the updates and collisions from the physics engine
215 m_DebugLogCallbackHandle = null; 208 m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
216 if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) 209 m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
217 {
218 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
219 if (PhysicsLogging.Enabled)
220 // The handle is saved in a variable to make sure it doesn't get freed after this call
221 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
222 else
223 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
224 }
225
226 // Get the version of the DLL
227 // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
228 // BulletSimVersion = BulletSimAPI.GetVersion();
229 // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
230 210
231 // The bounding box for the simulated world. The origin is 0,0,0 unless we're 211 // The bounding box for the simulated world. The origin is 0,0,0 unless we're
232 // a child in a mega-region. 212 // a child in a mega-region.
@@ -234,11 +214,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
234 // area. It tracks active objects no matter where they are. 214 // area. It tracks active objects no matter where they are.
235 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); 215 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
236 216
237 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); 217 World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
238 World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
239 m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
240 m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
241 m_DebugLogCallbackHandle));
242 218
243 Constraints = new BSConstraintCollection(World); 219 Constraints = new BSConstraintCollection(World);
244 220
@@ -268,6 +244,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
268 { 244 {
269 BSParam.SetParameterConfigurationValues(this, pConfig); 245 BSParam.SetParameterConfigurationValues(this, pConfig);
270 246
247 // There are two Bullet implementations to choose from
248 BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged");
249
271 // Very detailed logging for physics debugging 250 // Very detailed logging for physics debugging
272 // TODO: the boolean values can be moved to the normal parameter processing. 251 // TODO: the boolean values can be moved to the normal parameter processing.
273 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); 252 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
@@ -309,16 +288,41 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
309 return ret; 288 return ret;
310 } 289 }
311 290
312 // Called directly from unmanaged code so don't do much 291 // Select the connection to the actual Bullet implementation.
313 private void BulletLogger(string msg) 292 // The main engine selection is the engineName up to the first hypen.
293 // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name
294 // is passed to the engine to do its special selection, etc.
295 private BSAPITemplate SelectUnderlyingBulletEngine(string engineName)
314 { 296 {
315 m_log.Debug("[BULLETS UNMANAGED]:" + msg); 297 // For the moment, do a simple switch statement.
316 } 298 // Someday do fancyness with looking up the interfaces in the assembly.
299 BSAPITemplate ret = null;
317 300
318 // Called directly from unmanaged code so don't do much 301 string selectionName = engineName.ToLower();
319 private void BulletLoggerPhysLog(string msg) 302 int hyphenIndex = engineName.IndexOf("-");
320 { 303 if (hyphenIndex > 0)
321 DetailLog("[BULLETS UNMANAGED]:" + msg); 304 selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1);
305
306 switch (selectionName)
307 {
308 case "bulletunmanaged":
309 ret = new BSAPIUnman(engineName, this);
310 break;
311 case "bulletxna":
312 // ret = new BSAPIXNA(engineName, this);
313 break;
314 }
315
316 if (ret == null)
317 {
318 m_log.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader);
319 }
320 else
321 {
322 m_log.WarnFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
323 }
324
325 return ret;
322 } 326 }
323 327
324 public override void Dispose() 328 public override void Dispose()
@@ -355,7 +359,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
355 } 359 }
356 360
357 // Anything left in the unmanaged code should be cleaned out 361 // Anything left in the unmanaged code should be cleaned out
358 BulletSimAPI.Shutdown2(World.ptr); 362 PE.Shutdown(World);
359 363
360 // Not logging any more 364 // Not logging any more
361 PhysicsLogging.Close(); 365 PhysicsLogging.Close();
@@ -468,9 +472,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
468 LastTimeStep = timeStep; 472 LastTimeStep = timeStep;
469 473
470 int updatedEntityCount = 0; 474 int updatedEntityCount = 0;
471 IntPtr updatedEntitiesPtr;
472 int collidersCount = 0; 475 int collidersCount = 0;
473 IntPtr collidersPtr;
474 476
475 int beforeTime = 0; 477 int beforeTime = 0;
476 int simTime = 0; 478 int simTime = 0;
@@ -486,6 +488,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
486 TriggerPreStepEvent(timeStep); 488 TriggerPreStepEvent(timeStep);
487 489
488 // the prestep actions might have added taints 490 // the prestep actions might have added taints
491 numTaints += _taintOperations.Count;
489 ProcessTaints(); 492 ProcessTaints();
490 493
491 InTaintTime = false; // Only used for debugging so locking is not necessary. 494 InTaintTime = false; // Only used for debugging so locking is not necessary.
@@ -493,23 +496,25 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
493 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. 496 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
494 // Only enable this in a limited test world with few objects. 497 // Only enable this in a limited test world with few objects.
495 if (m_physicsPhysicalDumpEnabled) 498 if (m_physicsPhysicalDumpEnabled)
496 BulletSimAPI.DumpAllInfo2(World.ptr); 499 PE.DumpAllInfo(World);
497 500
498 // step the physical world one interval 501 // step the physical world one interval
499 m_simulationStep++; 502 m_simulationStep++;
500 int numSubSteps = 0; 503 int numSubSteps = 0;
501
502 try 504 try
503 { 505 {
504 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); 506 if (PhysicsLogging.Enabled)
507 beforeTime = Util.EnvironmentTickCount();
505 508
506 numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, 509 numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
507 out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
508 510
509 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); 511 if (PhysicsLogging.Enabled)
510 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", 512 {
511 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, 513 simTime = Util.EnvironmentTickCountSubtract(beforeTime);
512 updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); 514 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
515 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
516 updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
517 }
513 } 518 }
514 catch (Exception e) 519 catch (Exception e)
515 { 520 {
@@ -521,8 +526,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
521 collidersCount = 0; 526 collidersCount = 0;
522 } 527 }
523 528
524 // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in.
525
526 // Get a value for 'now' so all the collision and update routines don't have to get their own. 529 // Get a value for 'now' so all the collision and update routines don't have to get their own.
527 SimulationNowTime = Util.EnvironmentTickCount(); 530 SimulationNowTime = Util.EnvironmentTickCount();
528 531
@@ -564,7 +567,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
564 // Objects that are done colliding are removed from the ObjectsWithCollisions list. 567 // Objects that are done colliding are removed from the ObjectsWithCollisions list.
565 // Not done above because it is inside an iteration of ObjectWithCollisions. 568 // Not done above because it is inside an iteration of ObjectWithCollisions.
566 // This complex collision processing is required to create an empty collision 569 // This complex collision processing is required to create an empty collision
567 // event call after all collisions have happened on an object. This enables 570 // event call after all real collisions have happened on an object. This enables
568 // the simulator to generate the 'collision end' event. 571 // the simulator to generate the 'collision end' event.
569 if (ObjectsWithNoMoreCollisions.Count > 0) 572 if (ObjectsWithNoMoreCollisions.Count > 0)
570 { 573 {
@@ -593,11 +596,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
593 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. 596 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
594 // Only enable this in a limited test world with few objects. 597 // Only enable this in a limited test world with few objects.
595 if (m_physicsPhysicalDumpEnabled) 598 if (m_physicsPhysicalDumpEnabled)
596 BulletSimAPI.DumpAllInfo2(World.ptr); 599 PE.DumpAllInfo(World);
597 600
598 // The physics engine returns the number of milliseconds it simulated this call. 601 // The physics engine returns the number of milliseconds it simulated this call.
599 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. 602 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
600 // Multiply by 55 to give a nominal frame rate of 55. 603 // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55).
601 return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate; 604 return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
602 } 605 }
603 606
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 0cc51b0..cd77581 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -141,9 +141,9 @@ public sealed class BSShapeCollection : IDisposable
141 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); 141 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
142 PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() 142 PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
143 { 143 {
144 if (!BulletSimAPI.IsInWorld2(body.ptr)) 144 if (!PhysicsScene.PE.IsInWorld(body))
145 { 145 {
146 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); 146 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
147 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); 147 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
148 } 148 }
149 }); 149 });
@@ -166,15 +166,15 @@ public sealed class BSShapeCollection : IDisposable
166 // If the caller needs to know the old body is going away, pass the event up. 166 // If the caller needs to know the old body is going away, pass the event up.
167 if (bodyCallback != null) bodyCallback(body); 167 if (bodyCallback != null) bodyCallback(body);
168 168
169 if (BulletSimAPI.IsInWorld2(body.ptr)) 169 if (PhysicsScene.PE.IsInWorld(body))
170 { 170 {
171 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); 171 PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
172 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); 172 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
173 } 173 }
174 174
175 // Zero any reference to the shape so it is not freed when the body is deleted. 175 // Zero any reference to the shape so it is not freed when the body is deleted.
176 BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); 176 PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, new BulletShape());
177 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); 177 PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
178 }); 178 });
179 } 179 }
180 } 180 }
@@ -259,9 +259,9 @@ public sealed class BSShapeCollection : IDisposable
259 { 259 {
260 // Native shapes are not tracked and are released immediately 260 // Native shapes are not tracked and are released immediately
261 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", 261 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
262 BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); 262 BSScene.DetailLogZero, shape.AddrString, inTaintTime);
263 if (shapeCallback != null) shapeCallback(shape); 263 if (shapeCallback != null) shapeCallback(shape);
264 BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); 264 PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
265 } 265 }
266 else 266 else
267 { 267 {
@@ -332,36 +332,36 @@ public sealed class BSShapeCollection : IDisposable
332 // Called at taint-time. 332 // Called at taint-time.
333 private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) 333 private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
334 { 334 {
335 if (!BulletSimAPI.IsCompound2(shape.ptr)) 335 if (!PhysicsScene.PE.IsCompound(shape))
336 { 336 {
337 // Failed the sanity check!! 337 // Failed the sanity check!!
338 PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", 338 PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
339 LogHeader, shape.type, shape.ptr.ToString("X")); 339 LogHeader, shape.type, shape.AddrString);
340 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", 340 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
341 BSScene.DetailLogZero, shape.type, shape.ptr.ToString("X")); 341 BSScene.DetailLogZero, shape.type, shape.AddrString);
342 return; 342 return;
343 } 343 }
344 344
345 int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr); 345 int numChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(shape);
346 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren); 346 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
347 347
348 for (int ii = numChildren - 1; ii >= 0; ii--) 348 for (int ii = numChildren - 1; ii >= 0; ii--)
349 { 349 {
350 IntPtr childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii); 350 BulletShape childShape = PhysicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(shape, ii);
351 DereferenceAnonCollisionShape(childShape); 351 DereferenceAnonCollisionShape(childShape);
352 } 352 }
353 BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); 353 PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
354 } 354 }
355 355
356 // Sometimes we have a pointer to a collision shape but don't know what type it is. 356 // Sometimes we have a pointer to a collision shape but don't know what type it is.
357 // Figure out type and call the correct dereference routine. 357 // Figure out type and call the correct dereference routine.
358 // Called at taint-time. 358 // Called at taint-time.
359 private void DereferenceAnonCollisionShape(IntPtr cShape) 359 private void DereferenceAnonCollisionShape(BulletShape shapeInfo)
360 { 360 {
361 MeshDesc meshDesc; 361 MeshDesc meshDesc;
362 HullDesc hullDesc; 362 HullDesc hullDesc;
363 363
364 BulletShape shapeInfo = new BulletShape(cShape); 364 IntPtr cShape = shapeInfo.ptr;
365 if (TryGetMeshByPtr(cShape, out meshDesc)) 365 if (TryGetMeshByPtr(cShape, out meshDesc))
366 { 366 {
367 shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; 367 shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
@@ -376,13 +376,13 @@ public sealed class BSShapeCollection : IDisposable
376 } 376 }
377 else 377 else
378 { 378 {
379 if (BulletSimAPI.IsCompound2(cShape)) 379 if (PhysicsScene.PE.IsCompound(shapeInfo))
380 { 380 {
381 shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; 381 shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND;
382 } 382 }
383 else 383 else
384 { 384 {
385 if (BulletSimAPI.IsNativeShape2(cShape)) 385 if (PhysicsScene.PE.IsNativeShape(shapeInfo))
386 { 386 {
387 shapeInfo.isNativeShape = true; 387 shapeInfo.isNativeShape = true;
388 shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) 388 shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
@@ -400,7 +400,7 @@ public sealed class BSShapeCollection : IDisposable
400 else 400 else
401 { 401 {
402 PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}", 402 PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
403 LogHeader, PhysicsScene.RegionName, cShape.ToString("X")); 403 LogHeader, PhysicsScene.RegionName, shapeInfo.AddrString);
404 } 404 }
405 } 405 }
406 406
@@ -467,7 +467,7 @@ public sealed class BSShapeCollection : IDisposable
467 // Get the scale of any existing shape so we can see if the new shape is same native type and same size. 467 // Get the scale of any existing shape so we can see if the new shape is same native type and same size.
468 OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero; 468 OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
469 if (prim.PhysShape.HasPhysicalShape) 469 if (prim.PhysShape.HasPhysicalShape)
470 scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr); 470 scaleOfExistingShape = PhysicsScene.PE.GetLocalScaling(prim.PhysShape);
471 471
472 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}", 472 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
473 prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type); 473 prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
@@ -570,19 +570,15 @@ public sealed class BSShapeCollection : IDisposable
570 570
571 if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) 571 if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
572 { 572 {
573 // The proper scale has been calculated in the prim. 573
574 newShape = new BulletShape( 574 newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale);
575 // Bullet's capsule total height is the passed "height + (radius * 2)" so, the base
576 // capsule is radius of 0.5f (1 diameter) and height of two (1.0f + 0.5f * 2)".
577 // This must be taken into account when computing the scaling of the capsule.
578 BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
579 , shapeType);
580 if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); 575 if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
581 } 576 }
582 else 577 else
583 { 578 {
584 // Native shapes are scaled in Bullet so set the scaling to the size 579 // Native shapes are scaled in Bullet so set the scaling to the size
585 newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); 580 newShape = PhysicsScene.PE.BuildNativeShape(PhysicsScene.World, nativeShapeData);
581
586 } 582 }
587 if (!newShape.HasPhysicalShape) 583 if (!newShape.HasPhysicalShape)
588 { 584 {
@@ -629,13 +625,14 @@ public sealed class BSShapeCollection : IDisposable
629 625
630 private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) 626 private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
631 { 627 {
628 BulletShape newShape = new BulletShape();
632 IMesh meshData = null; 629 IMesh meshData = null;
633 IntPtr meshPtr = IntPtr.Zero; 630
634 MeshDesc meshDesc; 631 MeshDesc meshDesc;
635 if (Meshes.TryGetValue(newMeshKey, out meshDesc)) 632 if (Meshes.TryGetValue(newMeshKey, out meshDesc))
636 { 633 {
637 // If the mesh has already been built just use it. 634 // If the mesh has already been built just use it.
638 meshPtr = meshDesc.ptr; 635 newShape = new BulletShape(meshDesc.ptr, BSPhysicsShapeType.SHAPE_MESH);
639 } 636 }
640 else 637 else
641 { 638 {
@@ -658,11 +655,10 @@ public sealed class BSShapeCollection : IDisposable
658 // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", 655 // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
659 // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); 656 // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
660 657
661 meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, 658 newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World,
662 indices.GetLength(0), indices, vertices.Count, verticesAsFloats); 659 indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
663 } 660 }
664 } 661 }
665 BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH);
666 newShape.shapeKey = newMeshKey; 662 newShape.shapeKey = newMeshKey;
667 663
668 return newShape; 664 return newShape;
@@ -700,12 +696,14 @@ public sealed class BSShapeCollection : IDisposable
700 private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) 696 private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
701 { 697 {
702 698
699 BulletShape newShape = new BulletShape();
703 IntPtr hullPtr = IntPtr.Zero; 700 IntPtr hullPtr = IntPtr.Zero;
701
704 HullDesc hullDesc; 702 HullDesc hullDesc;
705 if (Hulls.TryGetValue(newHullKey, out hullDesc)) 703 if (Hulls.TryGetValue(newHullKey, out hullDesc))
706 { 704 {
707 // If the hull shape already is created, just use it. 705 // If the hull shape already is created, just use it.
708 hullPtr = hullDesc.ptr; 706 newShape = new BulletShape(hullDesc.ptr, BSPhysicsShapeType.SHAPE_HULL);
709 } 707 }
710 else 708 else
711 { 709 {
@@ -793,11 +791,10 @@ public sealed class BSShapeCollection : IDisposable
793 } 791 }
794 } 792 }
795 // create the hull data structure in Bullet 793 // create the hull data structure in Bullet
796 hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); 794 newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
797 } 795 }
798 } 796 }
799 797
800 BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
801 newShape.shapeKey = newHullKey; 798 newShape.shapeKey = newHullKey;
802 799
803 return newShape; 800 return newShape;
@@ -819,12 +816,12 @@ public sealed class BSShapeCollection : IDisposable
819 // Don't need to do this as the shape is freed when the new root shape is created below. 816 // Don't need to do this as the shape is freed when the new root shape is created below.
820 // DereferenceShape(prim.PhysShape, true, shapeCallback); 817 // DereferenceShape(prim.PhysShape, true, shapeCallback);
821 818
822 BulletShape cShape = new BulletShape( 819
823 BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND); 820 BulletShape cShape = PhysicsScene.PE.CreateCompoundShape(PhysicsScene.World, false);
824 821
825 // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. 822 // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
826 CreateGeomMeshOrHull(prim, shapeCallback); 823 CreateGeomMeshOrHull(prim, shapeCallback);
827 BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity); 824 PhysicsScene.PE.AddChildShapeToCompoundShape(cShape, prim.PhysShape, OMV.Vector3.Zero, OMV.Quaternion.Identity);
828 if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}", 825 if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
829 prim.LocalID, cShape, prim.PhysShape); 826 prim.LocalID, cShape, prim.PhysShape);
830 827
@@ -932,7 +929,7 @@ public sealed class BSShapeCollection : IDisposable
932 // If not a solid object, body is a GhostObject. Otherwise a RigidBody. 929 // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
933 if (!mustRebuild) 930 if (!mustRebuild)
934 { 931 {
935 CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr); 932 CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(prim.PhysBody);
936 if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY 933 if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
937 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) 934 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
938 { 935 {
@@ -947,20 +944,16 @@ public sealed class BSShapeCollection : IDisposable
947 DereferenceBody(prim.PhysBody, true, bodyCallback); 944 DereferenceBody(prim.PhysBody, true, bodyCallback);
948 945
949 BulletBody aBody; 946 BulletBody aBody;
950 IntPtr bodyPtr = IntPtr.Zero;
951 if (prim.IsSolid) 947 if (prim.IsSolid)
952 { 948 {
953 bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, 949 aBody = PhysicsScene.PE.CreateBodyFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
954 prim.LocalID, prim.RawPosition, prim.RawOrientation); 950 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody);
955 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
956 } 951 }
957 else 952 else
958 { 953 {
959 bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, 954 aBody = PhysicsScene.PE.CreateGhostFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
960 prim.LocalID, prim.RawPosition, prim.RawOrientation); 955 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
961 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
962 } 956 }
963 aBody = new BulletBody(prim.LocalID, bodyPtr);
964 957
965 ReferenceBody(aBody, true); 958 ReferenceBody(aBody, true);
966 959
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index c7885c6..c75eb9b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -91,11 +91,17 @@ public abstract class BSShape
91 // All shapes have a static call to get a reference to the physical shape 91 // All shapes have a static call to get a reference to the physical shape
92 // protected abstract static BSShape GetReference(); 92 // protected abstract static BSShape GetReference();
93 93
94 // Returns a string for debugging that uniquily identifies the memory used by this instance
95 public string AddrString
96 {
97 get { return ptr.ToString("X"); }
98 }
99
94 public override string ToString() 100 public override string ToString()
95 { 101 {
96 StringBuilder buff = new StringBuilder(); 102 StringBuilder buff = new StringBuilder();
97 buff.Append("<p="); 103 buff.Append("<p=");
98 buff.Append(ptr.ToString("X")); 104 buff.Append(AddrString);
99 buff.Append(",s="); 105 buff.Append(",s=");
100 buff.Append(type.ToString()); 106 buff.Append(type.ToString());
101 buff.Append(",k="); 107 buff.Append(",k=");
@@ -126,7 +132,8 @@ public class BSShapeNative : BSShape
126 BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) 132 BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
127 { 133 {
128 // Native shapes are not shared and are always built anew. 134 // Native shapes are not shared and are always built anew.
129 return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); 135 //return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
136 return null;
130 } 137 }
131 138
132 private BSShapeNative(BSScene physicsScene, BSPhysObject prim, 139 private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
@@ -141,14 +148,15 @@ public class BSShapeNative : BSShape
141 nativeShapeData.HullKey = (ulong)shapeKey; 148 nativeShapeData.HullKey = (ulong)shapeKey;
142 149
143 150
151 /*
144 if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) 152 if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
145 { 153 {
146 ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); 154 ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
147 physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); 155 physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
148 } 156 }
149 else 157 else
150 { 158 {
151 ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData); 159 ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
152 } 160 }
153 if (ptr == IntPtr.Zero) 161 if (ptr == IntPtr.Zero)
154 { 162 {
@@ -157,15 +165,18 @@ public class BSShapeNative : BSShape
157 } 165 }
158 type = shapeType; 166 type = shapeType;
159 key = (UInt64)shapeKey; 167 key = (UInt64)shapeKey;
168 */
160 } 169 }
161 // Make this reference to the physical shape go away since native shapes are not shared. 170 // Make this reference to the physical shape go away since native shapes are not shared.
162 public override void Dereference(BSScene physicsScene) 171 public override void Dereference(BSScene physicsScene)
163 { 172 {
173 /*
164 // Native shapes are not tracked and are released immediately 174 // Native shapes are not tracked and are released immediately
165 physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); 175 physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
166 BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr); 176 PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this);
167 ptr = IntPtr.Zero; 177 ptr = IntPtr.Zero;
168 // Garbage collection will free up this instance. 178 // Garbage collection will free up this instance.
179 */
169 } 180 }
170} 181}
171 182
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 07a9fd8..114c0aa 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -44,7 +44,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
44{ 44{
45 static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; 45 static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
46 46
47 BulletHeightMapInfo m_mapInfo = null; 47 BulletHMapInfo m_mapInfo = null;
48 48
49 // Constructor to build a default, flat heightmap terrain. 49 // Constructor to build a default, flat heightmap terrain.
50 public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) 50 public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
@@ -58,7 +58,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
58 { 58 {
59 initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; 59 initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
60 } 60 }
61 m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); 61 m_mapInfo = new BulletHMapInfo(id, initialMap);
62 m_mapInfo.minCoords = minTerrainCoords; 62 m_mapInfo.minCoords = minTerrainCoords;
63 m_mapInfo.maxCoords = maxTerrainCoords; 63 m_mapInfo.maxCoords = maxTerrainCoords;
64 m_mapInfo.terrainRegionBase = TerrainBase; 64 m_mapInfo.terrainRegionBase = TerrainBase;
@@ -72,7 +72,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
72 Vector3 minCoords, Vector3 maxCoords) 72 Vector3 minCoords, Vector3 maxCoords)
73 : base(physicsScene, regionBase, id) 73 : base(physicsScene, regionBase, id)
74 { 74 {
75 m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); 75 m_mapInfo = new BulletHMapInfo(id, initialMap);
76 m_mapInfo.minCoords = minCoords; 76 m_mapInfo.minCoords = minCoords;
77 m_mapInfo.maxCoords = maxCoords; 77 m_mapInfo.maxCoords = maxCoords;
78 m_mapInfo.minZ = minCoords.Z; 78 m_mapInfo.minZ = minCoords.Z;
@@ -91,13 +91,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
91 // Using the information in m_mapInfo, create the physical representation of the heightmap. 91 // Using the information in m_mapInfo, create the physical representation of the heightmap.
92 private void BuildHeightmapTerrain() 92 private void BuildHeightmapTerrain()
93 { 93 {
94 m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
95 m_mapInfo.minCoords, m_mapInfo.maxCoords,
96 m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
97
98 // Create the terrain shape from the mapInfo 94 // Create the terrain shape from the mapInfo
99 m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), 95 m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID,
100 BSPhysicsShapeType.SHAPE_TERRAIN); 96 new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,
97 m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin);
98
101 99
102 // The terrain object initial position is at the center of the object 100 // The terrain object initial position is at the center of the object
103 Vector3 centerPos; 101 Vector3 centerPos;
@@ -105,27 +103,26 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
105 centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); 103 centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
106 centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); 104 centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);
107 105
108 m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, 106 m_mapInfo.terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape,
109 BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, 107 m_mapInfo.ID, centerPos, Quaternion.Identity);
110 m_mapInfo.ID, centerPos, Quaternion.Identity));
111 108
112 // Set current terrain attributes 109 // Set current terrain attributes
113 BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction); 110 PhysicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction);
114 BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction); 111 PhysicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction);
115 BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution); 112 PhysicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution);
116 BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); 113 PhysicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT);
117 114
118 // Return the new terrain to the world of physical objects 115 // Return the new terrain to the world of physical objects
119 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); 116 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_mapInfo.terrainBody);
120 117
121 // redo its bounding box now that it is in the world 118 // redo its bounding box now that it is in the world
122 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); 119 PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody);
123 120
124 m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; 121 m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
125 m_mapInfo.terrainBody.ApplyCollisionMask(); 122 m_mapInfo.terrainBody.ApplyCollisionMask(PhysicsScene);
126 123
127 // Make it so the terrain will not move or be considered for movement. 124 // Make it so the terrain will not move or be considered for movement.
128 BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); 125 PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION);
129 126
130 return; 127 return;
131 } 128 }
@@ -137,10 +134,9 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
137 { 134 {
138 if (m_mapInfo.terrainBody.HasPhysicalBody) 135 if (m_mapInfo.terrainBody.HasPhysicalBody)
139 { 136 {
140 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); 137 PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody);
141 // Frees both the body and the shape. 138 // Frees both the body and the shape.
142 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); 139 PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody);
143 BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
144 } 140 }
145 } 141 }
146 m_mapInfo = null; 142 m_mapInfo = null;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 86ccfbb..2e9db39 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -133,20 +133,17 @@ public sealed class BSTerrainManager : IDisposable
133 public void CreateInitialGroundPlaneAndTerrain() 133 public void CreateInitialGroundPlaneAndTerrain()
134 { 134 {
135 // The ground plane is here to catch things that are trying to drop to negative infinity 135 // The ground plane is here to catch things that are trying to drop to negative infinity
136 BulletShape groundPlaneShape = new BulletShape( 136 BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
137 BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, 137 m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape,
138 BSParam.TerrainCollisionMargin), 138 BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity);
139 BSPhysicsShapeType.SHAPE_GROUNDPLANE); 139
140 m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, 140 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane);
141 BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, 141 PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane);
142 Vector3.Zero, Quaternion.Identity));
143 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
144 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
145 // Ground plane does not move 142 // Ground plane does not move
146 BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); 143 PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
147 // Everything collides with the ground plane. 144 // Everything collides with the ground plane.
148 m_groundPlane.collisionType = CollisionType.Groundplane; 145 m_groundPlane.collisionType = CollisionType.Groundplane;
149 m_groundPlane.ApplyCollisionMask(); 146 m_groundPlane.ApplyCollisionMask(PhysicsScene);
150 147
151 // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. 148 // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
152 BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); 149 BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
@@ -158,9 +155,9 @@ public sealed class BSTerrainManager : IDisposable
158 { 155 {
159 if (m_groundPlane.HasPhysicalBody) 156 if (m_groundPlane.HasPhysicalBody)
160 { 157 {
161 if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr)) 158 if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane))
162 { 159 {
163 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr); 160 PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane);
164 } 161 }
165 m_groundPlane.Clear(); 162 m_groundPlane.Clear();
166 } 163 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index 061e232..1d55ce3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -91,9 +91,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
91 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", 91 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}",
92 ID, indicesCount, indices.Length, verticesCount, vertices.Length); 92 ID, indicesCount, indices.Length, verticesCount, vertices.Length);
93 93
94 m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, 94 m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices);
95 indicesCount, indices, verticesCount, vertices),
96 BSPhysicsShapeType.SHAPE_MESH);
97 if (!m_terrainShape.HasPhysicalShape) 95 if (!m_terrainShape.HasPhysicalShape)
98 { 96 {
99 // DISASTER!! 97 // DISASTER!!
@@ -106,7 +104,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
106 Vector3 pos = regionBase; 104 Vector3 pos = regionBase;
107 Quaternion rot = Quaternion.Identity; 105 Quaternion rot = Quaternion.Identity;
108 106
109 m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot)); 107 m_terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
110 if (!m_terrainBody.HasPhysicalBody) 108 if (!m_terrainBody.HasPhysicalBody)
111 { 109 {
112 // DISASTER!! 110 // DISASTER!!
@@ -116,34 +114,34 @@ public sealed class BSTerrainMesh : BSTerrainPhys
116 } 114 }
117 115
118 // Set current terrain attributes 116 // Set current terrain attributes
119 BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction); 117 PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
120 BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction); 118 PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
121 BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution); 119 PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
122 BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); 120 PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
123 121
124 // Static objects are not very massive. 122 // Static objects are not very massive.
125 BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); 123 PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
126 124
127 // Put the new terrain to the world of physical objects 125 // Put the new terrain to the world of physical objects
128 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); 126 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
129 127
130 // Redo its bounding box now that it is in the world 128 // Redo its bounding box now that it is in the world
131 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); 129 PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
132 130
133 m_terrainBody.collisionType = CollisionType.Terrain; 131 m_terrainBody.collisionType = CollisionType.Terrain;
134 m_terrainBody.ApplyCollisionMask(); 132 m_terrainBody.ApplyCollisionMask(PhysicsScene);
135 133
136 // Make it so the terrain will not move or be considered for movement. 134 // Make it so the terrain will not move or be considered for movement.
137 BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); 135 PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
138 } 136 }
139 137
140 public override void Dispose() 138 public override void Dispose()
141 { 139 {
142 if (m_terrainBody.HasPhysicalBody) 140 if (m_terrainBody.HasPhysicalBody)
143 { 141 {
144 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); 142 PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody);
145 // Frees both the body and the shape. 143 // Frees both the body and the shape.
146 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr); 144 PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody);
147 } 145 }
148 } 146 }
149 147
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
index 5ad6746..681d21e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -35,7 +35,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
35// These hold pointers to allocated objects in the unmanaged space. 35// These hold pointers to allocated objects in the unmanaged space.
36 36
37// The physics engine controller class created at initialization 37// The physics engine controller class created at initialization
38public struct BulletWorld 38public class BulletWorld
39{ 39{
40 public BulletWorld(uint worldId, BSScene bss, IntPtr xx) 40 public BulletWorld(uint worldId, BSScene bss, IntPtr xx)
41 { 41 {
@@ -50,7 +50,7 @@ public struct BulletWorld
50} 50}
51 51
52// An allocated Bullet btRigidBody 52// An allocated Bullet btRigidBody
53public struct BulletBody 53public class BulletBody
54{ 54{
55 public BulletBody(uint id) : this(id, IntPtr.Zero) 55 public BulletBody(uint id) : this(id, IntPtr.Zero)
56 { 56 {
@@ -72,23 +72,32 @@ public struct BulletBody
72 public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } 72 public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }
73 73
74 // Apply the specificed collision mask into the physical world 74 // Apply the specificed collision mask into the physical world
75 public bool ApplyCollisionMask() 75 public bool ApplyCollisionMask(BSScene physicsScene)
76 { 76 {
77 // Should assert the body has been added to the physical world. 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 78 // (The collision masks are stored in the collision proxy cache which only exists for
79 // a collision body that is in the world.) 79 // a collision body that is in the world.)
80 return BulletSimAPI.SetCollisionGroupMask2(ptr, 80 return physicsScene.PE.SetCollisionGroupMask(this,
81 BulletSimData.CollisionTypeMasks[collisionType].group, 81 BulletSimData.CollisionTypeMasks[collisionType].group,
82 BulletSimData.CollisionTypeMasks[collisionType].mask); 82 BulletSimData.CollisionTypeMasks[collisionType].mask);
83 } 83 }
84 84
85 // Used for log messages for a unique display of the memory/object allocated to this instance
86 public string AddrString
87 {
88 get
89 {
90 return ptr.ToString("X");
91 }
92 }
93
85 public override string ToString() 94 public override string ToString()
86 { 95 {
87 StringBuilder buff = new StringBuilder(); 96 StringBuilder buff = new StringBuilder();
88 buff.Append("<id="); 97 buff.Append("<id=");
89 buff.Append(ID.ToString()); 98 buff.Append(ID.ToString());
90 buff.Append(",p="); 99 buff.Append(",p=");
91 buff.Append(ptr.ToString("X")); 100 buff.Append(AddrString);
92 buff.Append(",c="); 101 buff.Append(",c=");
93 buff.Append(collisionType); 102 buff.Append(collisionType);
94 buff.Append(">"); 103 buff.Append(">");
@@ -96,9 +105,14 @@ public struct BulletBody
96 } 105 }
97} 106}
98 107
99public struct BulletShape 108public class BulletShape
100{ 109{
101 public BulletShape(IntPtr xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN) 110 public BulletShape()
111 : this(IntPtr.Zero, BSPhysicsShapeType.SHAPE_UNKNOWN)
112 {
113 }
114 public BulletShape(IntPtr xx)
115 : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN)
102 { 116 {
103 } 117 }
104 public BulletShape(IntPtr xx, BSPhysicsShapeType typ) 118 public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
@@ -119,11 +133,20 @@ public struct BulletShape
119 } 133 }
120 public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } 134 public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }
121 135
136 // Used for log messages for a unique display of the memory/object allocated to this instance
137 public string AddrString
138 {
139 get
140 {
141 return ptr.ToString("X");
142 }
143 }
144
122 public override string ToString() 145 public override string ToString()
123 { 146 {
124 StringBuilder buff = new StringBuilder(); 147 StringBuilder buff = new StringBuilder();
125 buff.Append("<p="); 148 buff.Append("<p=");
126 buff.Append(ptr.ToString("X")); 149 buff.Append(AddrString);
127 buff.Append(",s="); 150 buff.Append(",s=");
128 buff.Append(type.ToString()); 151 buff.Append(type.ToString());
129 buff.Append(",k="); 152 buff.Append(",k=");
@@ -136,7 +159,7 @@ public struct BulletShape
136} 159}
137 160
138// An allocated Bullet btConstraint 161// An allocated Bullet btConstraint
139public struct BulletConstraint 162public class BulletConstraint
140{ 163{
141 public BulletConstraint(IntPtr xx) 164 public BulletConstraint(IntPtr xx)
142 { 165 {
@@ -149,17 +172,25 @@ public struct BulletConstraint
149 ptr = IntPtr.Zero; 172 ptr = IntPtr.Zero;
150 } 173 }
151 public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } 174 public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
175
176 // Used for log messages for a unique display of the memory/object allocated to this instance
177 public string AddrString
178 {
179 get
180 {
181 return ptr.ToString("X");
182 }
183 }
152} 184}
153 185
154// An allocated HeightMapThing which holds various heightmap info. 186// An allocated HeightMapThing which holds various heightmap info.
155// Made a class rather than a struct so there would be only one 187// Made a class rather than a struct so there would be only one
156// instance of this and C# will pass around pointers rather 188// instance of this and C# will pass around pointers rather
157// than making copies. 189// than making copies.
158public class BulletHeightMapInfo 190public class BulletHMapInfo
159{ 191{
160 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) { 192 public BulletHMapInfo(uint id, float[] hm) {
161 ID = id; 193 ID = id;
162 Ptr = xx;
163 heightMap = hm; 194 heightMap = hm;
164 terrainRegionBase = OMV.Vector3.Zero; 195 terrainRegionBase = OMV.Vector3.Zero;
165 minCoords = new OMV.Vector3(100f, 100f, 25f); 196 minCoords = new OMV.Vector3(100f, 100f, 25f);
@@ -168,7 +199,6 @@ public class BulletHeightMapInfo
168 sizeX = sizeY = 256f; 199 sizeX = sizeY = 256f;
169 } 200 }
170 public uint ID; 201 public uint ID;
171 public IntPtr Ptr;
172 public float[] heightMap; 202 public float[] heightMap;
173 public OMV.Vector3 terrainRegionBase; 203 public OMV.Vector3 terrainRegionBase;
174 public OMV.Vector3 minCoords; 204 public OMV.Vector3 minCoords;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index f805836..a8a4ff5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -31,6 +31,7 @@ CRASHES
31 31
32VEHICLES TODO LIST: 32VEHICLES TODO LIST:
33================================================= 33=================================================
34Angular motor direction is global coordinates rather than local coordinates
34Border crossing with linked vehicle causes crash 35Border crossing with linked vehicle causes crash
35Vehicles (Move smoothly) 36Vehicles (Move smoothly)
36Add vehicle collisions so IsColliding is properly reported. 37Add vehicle collisions so IsColliding is properly reported.
@@ -60,7 +61,8 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
60 61
61BULLETSIM TODO LIST: 62BULLETSIM TODO LIST:
62================================================= 63=================================================
63Avatar density is WAY off. Compare and calibrate with what's in SL. 64Implement an avatar mesh shape. The Bullet capsule is way too limited.
65 Consider just hand creating a vertex/index array in a new BSShapeAvatar.
64Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. 66Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
65Duplicating a physical prim causes old prim to jump away 67Duplicating a physical prim causes old prim to jump away
66 Dup a phys prim and the original become unselected and thus interacts w/ selected prim. 68 Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
@@ -78,7 +80,7 @@ Small physical objects do not interact correctly
78 Create chain of .5x.5x.1 torui and make all but top physical so to hang. 80 Create chain of .5x.5x.1 torui and make all but top physical so to hang.
79 The chain will fall apart and pairs will dance around on ground 81 The chain will fall apart and pairs will dance around on ground
80 Chains of 1x1x.2 will stay connected but will dance. 82 Chains of 1x1x.2 will stay connected but will dance.
81 Chains above 2x2x.4 are move stable and get stablier as torui get larger. 83 Chains above 2x2x.4 are more stable and get stablier as torui get larger.
82Add PID motor for avatar movement (slow to stop, ...) 84Add PID motor for avatar movement (slow to stop, ...)
83setForce should set a constant force. Different than AddImpulse. 85setForce should set a constant force. Different than AddImpulse.
84Implement raycast. 86Implement raycast.
@@ -97,9 +99,16 @@ Selecting and deselecting physical objects causes CPU processing time to jump
97Re-implement buoyancy as a separate force on the object rather than diddling gravity. 99Re-implement buoyancy as a separate force on the object rather than diddling gravity.
98 Register a pre-step event to add the force. 100 Register a pre-step event to add the force.
99More efficient memory usage when passing hull information from BSPrim to BulletSim 101More efficient memory usage when passing hull information from BSPrim to BulletSim
102Avatar movement motor check for zero or small movement. Somehow suppress small movements
103 when avatar has stopped and is just standing. Simple test for near zero has
104 the problem of preventing starting up (increase from zero) especially when falling.
105Physical and phantom will drop through the terrain
106
100 107
101LINKSETS 108LINKSETS
102====================================================== 109======================================================
110Offset the center of the linkset to be the geometric center of all the prims
111 Not quite the same as the center-of-gravity
103Linksets should allow collisions to individual children 112Linksets should allow collisions to individual children
104 Add LocalID to children shapes in LinksetCompound and create events for individuals 113 Add LocalID to children shapes in LinksetCompound and create events for individuals
105LinksetCompound: when one of the children changes orientation (like tires 114LinksetCompound: when one of the children changes orientation (like tires
@@ -162,6 +171,9 @@ Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/3179
162 171
163INTERNAL IMPROVEMENT/CLEANUP 172INTERNAL IMPROVEMENT/CLEANUP
164================================================= 173=================================================
174Create the physical wrapper classes (BulletBody, BulletShape) by methods on
175 BSAPITemplate and make their actual implementation Bullet engine specific.
176 For the short term, just call the existing functions in ShapeCollection.
165Consider moving prim/character body and shape destruction in destroy() 177Consider moving prim/character body and shape destruction in destroy()
166 to postTimeTime rather than protecting all the potential sets that 178 to postTimeTime rather than protecting all the potential sets that
167 might have been queued up. 179 might have been queued up.
@@ -195,6 +207,9 @@ Should taints check for existance or activeness of target?
195 keeps the object from being freed, but that is just an accident. 207 keeps the object from being freed, but that is just an accident.
196 Possibly have and 'active' flag that is checked by the taint processor? 208 Possibly have and 'active' flag that is checked by the taint processor?
197Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones) 209Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones)
210Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'?
211There are TOO MANY interfaces from BulletSim core to Bullet itself
212 Think of something to eliminate one or more of the layers
198 213
199THREADING 214THREADING
200================================================= 215=================================================
@@ -253,3 +268,5 @@ llApplyImpulse()
253 (Resolution: tested on SL and OS. AddForce scales the force for timestep) 268 (Resolution: tested on SL and OS. AddForce scales the force for timestep)
254llSetBuoyancy() (DONE) 269llSetBuoyancy() (DONE)
255 (Resolution: Bullet resets object gravity when added to world. Moved set gravity) 270 (Resolution: Bullet resets object gravity when added to world. Moved set gravity)
271Avatar density is WAY off. Compare and calibrate with what's in SL. (DONE)
272 (Resolution: set default density to 3.5 (from 60) which is closer to SL)
generated by cgit v1.1 at 2024-12-14 19:56:03 +0000