1 files changed, 173 insertions, 72 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
index 8ad78ca..7756b10 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
@@ -6,7 +6,7 @@
  * modification, are permitted provided that the following conditions are met:
  *     * Redistributions of source code must retain the above copyright
  *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
+ *     * Redistributions in binary form must reproduce the above copyright
  *       notice, this list of conditions and the following disclaimer in the
  *       documentation and/or other materials provided with the distribution.
  *     * Neither the name of the OpenSimulator Project nor the
@@ -31,7 +31,7 @@ using System.Security;
 using System.Text;
 using OpenMetaverse;
 
-namespace OpenSim.Region.Physics.BulletSPlugin {
+namespace OpenSim.Region.PhysicsModule.BulletS {
 
     // Constraint type values as defined by Bullet
 public enum ConstraintType : int
@@ -43,7 +43,11 @@ public enum ConstraintType : int
         SLIDER_CONSTRAINT_TYPE,
         CONTACT_CONSTRAINT_TYPE,
         D6_SPRING_CONSTRAINT_TYPE,
-        MAX_CONSTRAINT_TYPE
+        GEAR_CONSTRAINT_TYPE,           // added in Bullet 2.82
+        FIXED_CONSTRAINT_TYPE,          // added in Bullet 2.82
+        MAX_CONSTRAINT_TYPE,            // last type defined by Bullet
+    //
+    BS_FIXED_CONSTRAINT_TYPE = 1234    // BulletSim constraint that is fixed and unmoving
 }
 
 // ===============================================================================
@@ -70,6 +74,8 @@ public enum BSPhysicsShapeType
         SHAPE_COMPOUND  = 22,
         SHAPE_HEIGHTMAP = 23,
     SHAPE_AVATAR    = 24,
+    SHAPE_CONVEXHULL= 25,
+    SHAPE_GIMPACT   = 26,
 };
 
 // The native shapes have predefined shape hash keys
@@ -87,7 +93,7 @@ public enum FixedShapeKey : ulong
 [StructLayout(LayoutKind.Sequential)]
 public struct ShapeData
 {
-    public uint ID;
+    public UInt32 ID;
     public BSPhysicsShapeType Type;
     public Vector3 Position;
     public Quaternion Rotation;
@@ -111,7 +117,7 @@ public struct ShapeData
 [StructLayout(LayoutKind.Sequential)]
 public struct SweepHit
 {
-    public uint ID;
+    public UInt32 ID;
     public float Fraction;
     public Vector3 Normal;
     public Vector3 Point;
@@ -119,27 +125,47 @@ public struct SweepHit
 [StructLayout(LayoutKind.Sequential)]
 public struct RaycastHit
 {
-    public uint ID;
+    public UInt32 ID;
     public float Fraction;
     public Vector3 Normal;
 }
 [StructLayout(LayoutKind.Sequential)]
 public struct CollisionDesc
 {
-    public uint aID;
-    public uint bID;
+    public UInt32 aID;
+    public UInt32 bID;
     public Vector3 point;
     public Vector3 normal;
+    public float penetration;
 }
 [StructLayout(LayoutKind.Sequential)]
 public struct EntityProperties
 {
-    public uint ID;
+    public UInt32 ID;
     public Vector3 Position;
     public Quaternion Rotation;
     public Vector3 Velocity;
     public Vector3 Acceleration;
     public Vector3 RotationalVelocity;
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<i=");
+        buff.Append(ID.ToString());
+        buff.Append(",p=");
+        buff.Append(Position.ToString());
+        buff.Append(",r=");
+        buff.Append(Rotation.ToString());
+        buff.Append(",v=");
+        buff.Append(Velocity.ToString());
+        buff.Append(",a=");
+        buff.Append(Acceleration.ToString());
+        buff.Append(",rv=");
+        buff.Append(RotationalVelocity.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
 }
 
 // Format of this structure must match the definition in the C++ code
@@ -154,32 +180,6 @@ public struct ConfigurationParameters
     public float collisionMargin;
     public float gravity;
 
-    public float XlinearDamping;
-    public float XangularDamping;
-    public float XdeactivationTime;
-    public float XlinearSleepingThreshold;
-    public float XangularSleepingThreshold;
-        public float XccdMotionThreshold;
-        public float XccdSweptSphereRadius;
-    public float XcontactProcessingThreshold;
-
-    public float XterrainImplementation;
-    public float XterrainFriction;
-    public float XterrainHitFraction;
-    public float XterrainRestitution;
-    public float XterrainCollisionMargin;
-
-    public float XavatarFriction;
-    public float XavatarStandingFriction;
-    public float XavatarDensity;
-    public float XavatarRestitution;
-    public float XavatarCapsuleWidth;
-    public float XavatarCapsuleDepth;
-    public float XavatarCapsuleHeight;
-        public float XavatarContactProcessingThreshold;
-
-    public float XvehicleAngularDamping;
-
         public float maxPersistantManifoldPoolSize;
         public float maxCollisionAlgorithmPoolSize;
         public float shouldDisableContactPoolDynamicAllocation;
@@ -188,22 +188,45 @@ public struct ConfigurationParameters
         public float shouldSplitSimulationIslands;
         public float shouldEnableFrictionCaching;
         public float numberOfSolverIterations;
+    public float useSingleSidedMeshes;
+        public float globalContactBreakingThreshold;
 
-    public float XlinksetImplementation;
-    public float XlinkConstraintUseFrameOffset;
-    public float XlinkConstraintEnableTransMotor;
-    public float XlinkConstraintTransMotorMaxVel;
-    public float XlinkConstraintTransMotorMaxForce;
-    public float XlinkConstraintERP;
-    public float XlinkConstraintCFM;
-    public float XlinkConstraintSolverIterations;
-
-    public float XphysicsLoggingFrames;
+    public float physicsLoggingFrames;
 
     public const float numericTrue = 1f;
     public const float numericFalse = 0f;
 }
 
+// Parameters passed for the conversion of a mesh to a hull using Bullet's HACD library.
+[StructLayout(LayoutKind.Sequential)]
+public struct HACDParams
+{
+                                            // usual default values
+        public float maxVerticesPerHull;                // 100
+        public float minClusters;                               // 2
+        public float compacityWeight;                   // 0.1
+        public float volumeWeight;                              // 0.0
+        public float concavity;                             // 100
+        public float addExtraDistPoints;                // false
+        public float addNeighboursDistPoints;   // false
+        public float addFacesPoints;                    // false
+        public float shouldAdjustCollisionMargin;       // false
+    // VHACD
+        public float whichHACD;                             // zero if Bullet HACD, non-zero says VHACD
+        // http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html
+        public float vHACDresolution;                   // 100,000 max number of voxels generated during voxelization stage
+        public float vHACDdepth;                                // 20 max number of clipping stages
+        public float vHACDconcavity;                    // 0.0025 maximum concavity
+        public float vHACDplaneDownsampling;    // 4 granularity of search for best clipping plane
+        public float vHACDconvexHullDownsampling;       // 4 precision of hull gen process
+        public float vHACDalpha;                                // 0.05 bias toward clipping along symmetry planes
+        public float vHACDbeta;                             // 0.05 bias toward clipping along revolution axis
+        public float vHACDgamma;                                // 0.00125 max concavity when merging
+        public float vHACDpca;                                  // 0 on/off normalizing mesh before decomp
+        public float vHACDmode;                             // 0 0:voxel based, 1: tetrahedron based
+        public float vHACDmaxNumVerticesPerCH;  // 64 max triangles per convex hull
+        public float vHACDminVolumePerCH;               // 0.0001 sampling of generated convex hulls
+}
 
 // The states a bullet collision object can have
 public enum ActivationState : uint
@@ -238,11 +261,12 @@ public enum CollisionFlags : uint
     CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
     CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
     // Following used by BulletSim to control collisions and updates
-    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
-    BS_FLOATS_ON_WATER               = 1 << 11,
-    BS_VEHICLE_COLLISIONS            = 1 << 12,
+    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10, // return collision events from unmanaged to managed
+    BS_FLOATS_ON_WATER               = 1 << 11, // the object should float at water level
+    BS_VEHICLE_COLLISIONS            = 1 << 12, // return collisions for vehicle ground checking
+    BS_RETURN_ROOT_COMPOUND_SHAPE    = 1 << 13, // return the pos/rot of the root shape in a compound shape
     BS_NONE                          = 0,
-    BS_ALL                           = 0xFFFFFFFF
+    BS_ALL                           = 0x7FFF   // collision flags are a signed short
 };
 
 // Values f collisions groups and masks
@@ -258,14 +282,14 @@ public enum CollisionFilterGroups : uint
     BDebrisGroup            = 1 << 3,   // 0008
     BSensorTrigger          = 1 << 4,   // 0010
     BCharacterGroup         = 1 << 5,   // 0020
-    BAllGroup               = 0x000FFFFF,
+    BAllGroup               = 0x0007FFF,        // collision flags are a signed short
     // Filter groups defined by BulletSim
-    BGroundPlaneGroup       = 1 << 10,  // 0400
-    BTerrainGroup           = 1 << 11,  // 0800
-    BRaycastGroup           = 1 << 12,  // 1000
-    BSolidGroup             = 1 << 13,  // 2000
+    BGroundPlaneGroup       = 1 << 8,  // 0400
+    BTerrainGroup           = 1 << 9,  // 0800
+    BRaycastGroup           = 1 << 10,  // 1000
+    BSolidGroup             = 1 << 11,  // 2000
     // BLinksetGroup        = xx  // a linkset proper is either static or dynamic
-    BLinksetChildGroup      = 1 << 14,  // 4000
+    BLinksetChildGroup      = 1 << 12,  // 4000
 };
 
 // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
@@ -285,7 +309,7 @@ public enum ConstraintParamAxis : int
     AXIS_ANGULAR_X,
     AXIS_ANGULAR_Y,
     AXIS_ANGULAR_Z,
-    AXIS_LINEAR_ALL = 20,    // these last three added by BulletSim so we don't have to do zillions of calls
+    AXIS_LINEAR_ALL = 20,    // added by BulletSim so we don't have to do zillions of calls
     AXIS_ANGULAR_ALL,
     AXIS_ALL
 };
@@ -294,7 +318,7 @@ public abstract class BSAPITemplate
 {
 // Returns the name of the underlying Bullet engine
 public abstract string BulletEngineName { get; }
-public abstract string BulletEngineVersion { get; protected set;} 
+public abstract string BulletEngineVersion { get; protected set;}
 
 // Initialization and simulation
 public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
@@ -305,7 +329,7 @@ public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet
 public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
                         out int updatedEntityCount, out int collidersCount);
 
-public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
+public abstract bool UpdateParameter(BulletWorld world, UInt32 localID, String parm, float value);
 
 public abstract void Shutdown(BulletWorld sim);
 
@@ -317,10 +341,20 @@ public abstract BulletShape CreateMeshShape(BulletWorld world,
                 int indicesCount, int[] indices,
                 int verticesCount, float[] vertices );
 
+public abstract BulletShape CreateGImpactShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices );
+
 public abstract BulletShape CreateHullShape(BulletWorld world,
                 int hullCount, float[] hulls);
 
-public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
+public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms);
+
+public abstract BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
+
+public abstract BulletShape CreateConvexHullShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices );
 
 public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
 
@@ -342,26 +376,28 @@ public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape c
 
 public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape);
 
+public abstract void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
+
 public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
 
-public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id);
+public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, UInt32 id);
 
 public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
 
 public abstract CollisionObjectTypes GetBodyType(BulletBody obj);
 
-public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
 
-public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
 
-public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
+public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
 
 public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
 
 // =====================================================================================
-public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin);
+public abstract BulletShape CreateGroundPlaneShape(UInt32 id, float height, float collisionMargin);
 
-public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
                                                                 float scaleFactor, float collisionMargin);
 
 // =====================================================================================
@@ -375,11 +411,38 @@ public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
+public abstract BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
 public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 pivotinA, Vector3 pivotinB,
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
+public abstract BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 axisInA, Vector3 axisInB,
+                    float ratio, bool disableCollisionsBetweenLinkedBodies);
+
+public abstract BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotInA, Vector3 pivotInB,
+                    bool disableCollisionsBetweenLinkedBodies);
+
 public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
 
 public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
@@ -397,6 +460,38 @@ public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float e
 
 public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
 
+public const int HINGE_NOT_SPECIFIED = -1;
+public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation);
+
+public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse);
+
+public const int SPRING_NOT_SPECIFIED = -1;
+public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint);
+
+public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss);
+
+public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping);
+
+public const int SLIDER_LOWER_LIMIT = 0;
+public const int SLIDER_UPPER_LIMIT = 1;
+public const int SLIDER_LINEAR = 2;
+public const int SLIDER_ANGULAR = 3;
+public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val);
+
+public const int SLIDER_SET_SOFTNESS = 4;
+public const int SLIDER_SET_RESTITUTION = 5;
+public const int SLIDER_SET_DAMPING = 6;
+public const int SLIDER_SET_DIRECTION = 7;
+public const int SLIDER_SET_LIMIT = 8;
+public const int SLIDER_SET_ORTHO = 9;
+public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
+
+public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse);
+
+public const int SLIDER_MOTOR_VELOCITY = 10;
+public const int SLIDER_MAX_MOTOR_FORCE = 11;
+public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val);
+
 public abstract bool CalculateTransforms(BulletConstraint constrain);
 
 public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
@@ -420,6 +515,8 @@ public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
 
 public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
 
+public abstract bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj);
+
 public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
 
 public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
@@ -607,7 +704,7 @@ public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index);
 
 public abstract int GetNumConstraintRefs(BulletBody obj);
 
-public abstract bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
+public abstract bool SetCollisionGroupMask(BulletBody body, UInt32 filter, UInt32 mask);
 
 // =====================================================================================
 // btCollisionShape entries
@@ -646,17 +743,21 @@ public abstract float GetMargin(BulletShape shape);
 
 // =====================================================================================
 // Debugging
-public abstract void DumpRigidBody(BulletWorld sim, BulletBody collisionObject);
+public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { }
+
+public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape) { }
+
+public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain) { }
 
-public abstract void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape);
+public virtual void DumpActivationInfo(BulletWorld sim) { }
 
-public abstract void DumpConstraint(BulletWorld sim, BulletConstraint constrain);
+public virtual void DumpAllInfo(BulletWorld sim) { }
 
-public abstract void DumpActivationInfo(BulletWorld sim);
+public virtual void DumpPhysicsStatistics(BulletWorld sim) { }
 
-public abstract void DumpAllInfo(BulletWorld sim);
+public virtual void ResetBroadphasePool(BulletWorld sim) { }
 
-public abstract void DumpPhysicsStatistics(BulletWorld sim);
+public virtual void ResetConstraintSolver(BulletWorld sim) { }
 
 };
 }