1 files changed, 81 insertions, 60 deletions

diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
index 7756b10..a288048 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
@@ -36,16 +36,16 @@ namespace OpenSim.Region.PhysicsModule.BulletS {
     // Constraint type values as defined by Bullet
 public enum ConstraintType : int
 {
-        POINT2POINT_CONSTRAINT_TYPE = 3,
-        HINGE_CONSTRAINT_TYPE,
-        CONETWIST_CONSTRAINT_TYPE,
-        D6_CONSTRAINT_TYPE,
-        SLIDER_CONSTRAINT_TYPE,
-        CONTACT_CONSTRAINT_TYPE,
-        D6_SPRING_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
+    POINT2POINT_CONSTRAINT_TYPE = 3,
+    HINGE_CONSTRAINT_TYPE,
+    CONETWIST_CONSTRAINT_TYPE,
+    D6_CONSTRAINT_TYPE,
+    SLIDER_CONSTRAINT_TYPE,
+    CONTACT_CONSTRAINT_TYPE,
+    D6_SPRING_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
 }
@@ -54,25 +54,25 @@ public enum ConstraintType : int
 [StructLayout(LayoutKind.Sequential)]
 public struct ConvexHull
 {
-        Vector3 Offset;
-        int VertexCount;
-        Vector3[] Vertices;
+    Vector3 Offset;
+    int VertexCount;
+    Vector3[] Vertices;
 }
 public enum BSPhysicsShapeType
 {
-        SHAPE_UNKNOWN   = 0,
-        SHAPE_CAPSULE   = 1,
-        SHAPE_BOX       = 2,
-        SHAPE_CONE      = 3,
-        SHAPE_CYLINDER  = 4,
-        SHAPE_SPHERE    = 5,
-        SHAPE_MESH      = 6,
-        SHAPE_HULL      = 7,
+    SHAPE_UNKNOWN   = 0,
+    SHAPE_CAPSULE   = 1,
+    SHAPE_BOX       = 2,
+    SHAPE_CONE      = 3,
+    SHAPE_CYLINDER  = 4,
+    SHAPE_SPHERE    = 5,
+    SHAPE_MESH      = 6,
+    SHAPE_HULL      = 7,
     // following defined by BulletSim
-        SHAPE_GROUNDPLANE  = 20,
-        SHAPE_TERRAIN   = 21,
-        SHAPE_COMPOUND  = 22,
-        SHAPE_HEIGHTMAP = 23,
+    SHAPE_GROUNDPLANE  = 20,
+    SHAPE_TERRAIN   = 21,
+    SHAPE_COMPOUND  = 22,
+    SHAPE_HEIGHTMAP = 23,
     SHAPE_AVATAR    = 24,
     SHAPE_CONVEXHULL= 25,
     SHAPE_GIMPACT   = 26,
@@ -121,6 +121,14 @@ public struct SweepHit
     public float Fraction;
     public Vector3 Normal;
     public Vector3 Point;
+
+    public bool hasHit()
+    {
+        float sum = Fraction
+                + Normal.X + Normal.Y + Normal.Z
+                + Point.X + Point.Y + Point.Z;
+        return (sum != 0) || (ID != 0);
+    }
 }
 [StructLayout(LayoutKind.Sequential)]
 public struct RaycastHit
@@ -128,6 +136,13 @@ public struct RaycastHit
     public UInt32 ID;
     public float Fraction;
     public Vector3 Normal;
+    public Vector3 Point;
+
+    public bool hasHit()
+    {
+        float sum = Normal.X + Normal.Y + Normal.Z + Point.X + Point.Y + Point.Z;
+        return (sum != 0);
+    }
 }
 [StructLayout(LayoutKind.Sequential)]
 public struct CollisionDesc
@@ -180,16 +195,16 @@ public struct ConfigurationParameters
     public float collisionMargin;
     public float gravity;
 
-        public float maxPersistantManifoldPoolSize;
-        public float maxCollisionAlgorithmPoolSize;
-        public float shouldDisableContactPoolDynamicAllocation;
-        public float shouldForceUpdateAllAabbs;
-        public float shouldRandomizeSolverOrder;
-        public float shouldSplitSimulationIslands;
-        public float shouldEnableFrictionCaching;
-        public float numberOfSolverIterations;
+    public float maxPersistantManifoldPoolSize;
+    public float maxCollisionAlgorithmPoolSize;
+    public float shouldDisableContactPoolDynamicAllocation;
+    public float shouldForceUpdateAllAabbs;
+    public float shouldRandomizeSolverOrder;
+    public float shouldSplitSimulationIslands;
+    public float shouldEnableFrictionCaching;
+    public float numberOfSolverIterations;
     public float useSingleSidedMeshes;
-        public float globalContactBreakingThreshold;
+    public float globalContactBreakingThreshold;
 
     public float physicsLoggingFrames;
 
@@ -202,30 +217,30 @@ public struct ConfigurationParameters
 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
+    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
+    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
@@ -322,8 +337,8 @@ public abstract string BulletEngineVersion { get; protected set;}
 
 // Initialization and simulation
 public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
-                                                                                        int maxCollisions,  ref CollisionDesc[] collisionArray,
-                                                                                        int maxUpdates, ref EntityProperties[] updateArray
+                                            int maxCollisions,  ref CollisionDesc[] collisionArray,
+                                            int maxUpdates, ref EntityProperties[] updateArray
                                             );
 
 public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
@@ -398,7 +413,7 @@ public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
 public abstract BulletShape CreateGroundPlaneShape(UInt32 id, float height, float collisionMargin);
 
 public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
-                                                                float scaleFactor, float collisionMargin);
+                                float scaleFactor, float collisionMargin);
 
 // =====================================================================================
 // Constraint creation and helper routines
@@ -742,6 +757,12 @@ public abstract void SetMargin(BulletShape shape, float val);
 public abstract float GetMargin(BulletShape shape);
 
 // =====================================================================================
+// Raycast
+public abstract SweepHit ConvexSweepTest2(BulletWorld world, BulletBody obj, Vector3 from, Vector3 to, float margin);
+
+public abstract RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask);
+
+// =====================================================================================
 // Debugging
 public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { }