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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Text;
31
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34using OpenSim.Region.Physics.Meshing;
35using OpenSim.Region.Physics.ConvexDecompositionDotNet;
36
37using OMV = OpenMetaverse;
38
39namespace OpenSim.Region.Physics.BulletSPlugin
40{
41// Information class that holds stats for the shape. Which values mean
42// something depends on the type of shape.
43// This information is used for debugging and stats and is not used
44// for operational things.
45public class ShapeInfoInfo
46{
47 public int Vertices { get; set; }
48 private int m_hullCount;
49 private int[] m_verticesPerHull;
50 public ShapeInfoInfo()
51 {
52 Vertices = 0;
53 m_hullCount = 0;
54 m_verticesPerHull = null;
55 }
56 public int HullCount
57 {
58 set
59 {
60 m_hullCount = value;
61 m_verticesPerHull = new int[m_hullCount];
62 Array.Clear(m_verticesPerHull, 0, m_hullCount);
63 }
64 get { return m_hullCount; }
65 }
66 public void SetVerticesPerHull(int hullNum, int vertices)
67 {
68 if (m_verticesPerHull != null && hullNum < m_verticesPerHull.Length)
69 {
70 m_verticesPerHull[hullNum] = vertices;
71 }
72 }
73 public int GetVerticesPerHull(int hullNum)
74 {
75 if (m_verticesPerHull != null && hullNum < m_verticesPerHull.Length)
76 {
77 return m_verticesPerHull[hullNum];
78 }
79 return 0;
80 }
81 public override string ToString()
82 {
83 StringBuilder buff = new StringBuilder();
84 // buff.Append("ShapeInfo=<");
85 buff.Append("<");
86 if (Vertices > 0)
87 {
88 buff.Append("verts=");
89 buff.Append(Vertices.ToString());
90 }
91
92 if (Vertices > 0 && HullCount > 0) buff.Append(",");
93
94 if (HullCount > 0)
95 {
96 buff.Append("nHulls=");
97 buff.Append(HullCount.ToString());
98 buff.Append(",");
99 buff.Append("hullVerts=");
100 for (int ii = 0; ii < HullCount; ii++)
101 {
102 if (ii != 0) buff.Append(",");
103 buff.Append(GetVerticesPerHull(ii).ToString());
104 }
105 }
106 buff.Append(">");
107 return buff.ToString();
108 }
109}
110
111public abstract class BSShape
112{
113 private static string LogHeader = "[BULLETSIM SHAPE]";
114
115 public int referenceCount { get; set; }
116 public DateTime lastReferenced { get; set; }
117 public BulletShape physShapeInfo { get; set; }
118 public ShapeInfoInfo shapeInfo { get; private set; }
119
120 public BSShape()
121 {
122 referenceCount = 1;
123 lastReferenced = DateTime.Now;
124 physShapeInfo = new BulletShape();
125 shapeInfo = new ShapeInfoInfo();
126 }
127 public BSShape(BulletShape pShape)
128 {
129 referenceCount = 1;
130 lastReferenced = DateTime.Now;
131 physShapeInfo = pShape;
132 shapeInfo = new ShapeInfoInfo();
133 }
134
135 // Get another reference to this shape.
136 public abstract BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim);
137
138 // Called when this shape is being used again.
139 // Used internally. External callers should call instance.GetReference() to properly copy/reference
140 // the shape.
141 protected virtual void IncrementReference()
142 {
143 referenceCount++;
144 lastReferenced = DateTime.Now;
145 }
146
147 // Called when this shape is done being used.
148 protected virtual void DecrementReference()
149 {
150 referenceCount--;
151 lastReferenced = DateTime.Now;
152 }
153
154 // Release the use of a physical shape.
155 public abstract void Dereference(BSScene physicsScene);
156
157 // Return 'true' if there is an allocated physics physical shape under this class instance.
158 public virtual bool HasPhysicalShape
159 {
160 get
161 {
162 if (physShapeInfo != null)
163 return physShapeInfo.HasPhysicalShape;
164 return false;
165 }
166 }
167 public virtual BSPhysicsShapeType ShapeType
168 {
169 get
170 {
171 BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
172 if (physShapeInfo != null && physShapeInfo.HasPhysicalShape)
173 ret = physShapeInfo.shapeType;
174 return ret;
175 }
176 }
177
178 // Returns a string for debugging that uniquily identifies the memory used by this instance
179 public virtual string AddrString
180 {
181 get
182 {
183 if (physShapeInfo != null)
184 return physShapeInfo.AddrString;
185 return "unknown";
186 }
187 }
188
189 public override string ToString()
190 {
191 StringBuilder buff = new StringBuilder();
192 if (physShapeInfo == null)
193 {
194 buff.Append("<noPhys");
195 }
196 else
197 {
198 buff.Append("<phy=");
199 buff.Append(physShapeInfo.ToString());
200 }
201 buff.Append(",c=");
202 buff.Append(referenceCount.ToString());
203 buff.Append(">");
204 return buff.ToString();
205 }
206
207 #region Common shape routines
208 // Create a hash of all the shape parameters to be used as a key for this particular shape.
209 public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
210 {
211 // level of detail based on size and type of the object
212 float lod = BSParam.MeshLOD;
213 if (pbs.SculptEntry)
214 lod = BSParam.SculptLOD;
215
216 // Mega prims usually get more detail because one can interact with shape approximations at this size.
217 float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
218 if (maxAxis > BSParam.MeshMegaPrimThreshold)
219 lod = BSParam.MeshMegaPrimLOD;
220
221 retLod = lod;
222 return pbs.GetMeshKey(size, lod);
223 }
224
225 // The creation of a mesh or hull can fail if an underlying asset is not available.
226 // There are two cases: 1) the asset is not in the cache and it needs to be fetched;
227 // and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
228 // The first case causes the asset to be fetched. The second case requires
229 // us to not loop forever.
230 // Called after creating a physical mesh or hull. If the physical shape was created,
231 // just return.
232 public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim)
233 {
234 // If the shape was successfully created, nothing more to do
235 if (newShape.HasPhysicalShape)
236 return newShape;
237
238 // VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been
239 // fetched but we end up here again, the meshing of the asset must have failed.
240 // Prevent trying to keep fetching the mesh by declaring failure.
241 if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
242 {
243 prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing;
244 physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. prim={1}, texture={2}",
245 LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
246 physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,setFailed,prim={1},tex={2}",
247 prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
248 }
249 else
250 {
251 // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
252 if (prim.BaseShape.SculptEntry
253 && !prim.AssetFailed()
254 && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting
255 && prim.BaseShape.SculptTexture != OMV.UUID.Zero
256 )
257 {
258 physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAsset,objNam={1},tex={2}",
259 prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture);
260 // Multiple requestors will know we're waiting for this asset
261 prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting;
262
263 BSPhysObject xprim = prim;
264 RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod;
265 if (assetProvider != null)
266 {
267 BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
268 assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
269 {
270 // physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID);
271 bool assetFound = false;
272 string mismatchIDs = String.Empty; // DEBUG DEBUG
273 if (asset != null && yprim.BaseShape.SculptEntry)
274 {
275 if (yprim.BaseShape.SculptTexture.ToString() == asset.ID)
276 {
277 yprim.BaseShape.SculptData = asset.Data;
278 // This will cause the prim to see that the filler shape is not the right
279 // one and try again to build the object.
280 // No race condition with the normal shape setting since the rebuild is at taint time.
281 yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched;
282 yprim.ForceBodyShapeRebuild(false /* inTaintTime */);
283 assetFound = true;
284 }
285 else
286 {
287 mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID;
288 }
289 }
290 if (!assetFound)
291 {
292 yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch;
293 }
294 physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
295 yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs );
296 });
297 }
298 else
299 {
300 xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch;
301 physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
302 LogHeader, physicsScene.Name);
303 }
304 }
305 else
306 {
307 if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch)
308 {
309 physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. prim={1}, texture={2}",
310 LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
311 physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailed,prim={1},tex={2}",
312 prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
313 }
314 if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing)
315 {
316 physicsScene.Logger.WarnFormat("{0} Mesh asset would not mesh. prim={1}, texture={2}",
317 LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
318 physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailedMeshing,prim={1},tex={2}",
319 prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
320 }
321 }
322 }
323
324 // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
325 BSShape fillShape = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
326 physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,boxTempShape", prim.LocalID);
327
328 return fillShape.physShapeInfo;
329 }
330
331 public static String UsefulPrimInfo(BSScene pScene, BSPhysObject prim)
332 {
333 StringBuilder buff = new StringBuilder(prim.PhysObjectName);
334 buff.Append("/pos=");
335 buff.Append(prim.RawPosition.ToString());
336 if (pScene != null)
337 {
338 buff.Append("/rgn=");
339 buff.Append(pScene.Name);
340 }
341 return buff.ToString();
342 }
343
344 #endregion // Common shape routines
345}
346
347// ============================================================================================================
348public class BSShapeNull : BSShape
349{
350 public BSShapeNull() : base()
351 {
352 }
353 public static BSShape GetReference() { return new BSShapeNull(); }
354 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) { return new BSShapeNull(); }
355 public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
356}
357
358// ============================================================================================================
359// BSShapeNative is a wrapper for a Bullet 'native' shape -- cube and sphere.
360// They are odd in that they don't allocate meshes but are computated/procedural.
361// This means allocation and freeing is different than meshes.
362public class BSShapeNative : BSShape
363{
364 private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
365 public BSShapeNative(BulletShape pShape) : base(pShape)
366 {
367 }
368
369 public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
370 BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
371 {
372 // Native shapes are not shared and are always built anew.
373 return new BSShapeNative(CreatePhysicalNativeShape(physicsScene, prim, shapeType, shapeKey));
374 }
375
376 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
377 {
378 // Native shapes are not shared so we return a new shape.
379 BSShape ret = null;
380 lock (physShapeInfo)
381 {
382 ret = new BSShapeNative(CreatePhysicalNativeShape(pPhysicsScene, pPrim,
383 physShapeInfo.shapeType, (FixedShapeKey)physShapeInfo.shapeKey));
384 }
385 return ret;
386 }
387
388 // Make this reference to the physical shape go away since native shapes are not shared.
389 public override void Dereference(BSScene physicsScene)
390 {
391 // Native shapes are not tracked and are released immediately
392 lock (physShapeInfo)
393 {
394 if (physShapeInfo.HasPhysicalShape)
395 {
396 physicsScene.DetailLog("{0},BSShapeNative.Dereference,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
397 physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
398 }
399 physShapeInfo.Clear();
400 // Garbage collection will free up this instance.
401 }
402 }
403
404 private static BulletShape CreatePhysicalNativeShape(BSScene physicsScene, BSPhysObject prim,
405 BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
406 {
407 BulletShape newShape;
408
409 ShapeData nativeShapeData = new ShapeData();
410 nativeShapeData.Type = shapeType;
411 nativeShapeData.ID = prim.LocalID;
412 nativeShapeData.Scale = prim.Scale;
413 nativeShapeData.Size = prim.Scale;
414 nativeShapeData.MeshKey = (ulong)shapeKey;
415 nativeShapeData.HullKey = (ulong)shapeKey;
416
417 if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
418 {
419 newShape = physicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
420 physicsScene.DetailLog("{0},BSShapeNative,capsule,scale={1}", prim.LocalID, prim.Scale);
421 }
422 else
423 {
424 newShape = physicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
425 }
426 if (!newShape.HasPhysicalShape)
427 {
428 physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
429 LogHeader, prim.LocalID, shapeType);
430 }
431 newShape.shapeType = shapeType;
432 newShape.isNativeShape = true;
433 newShape.shapeKey = (UInt64)shapeKey;
434 return newShape;
435 }
436
437}
438
439// ============================================================================================================
440// BSShapeMesh is a simple mesh.
441public class BSShapeMesh : BSShape
442{
443 private static string LogHeader = "[BULLETSIM SHAPE MESH]";
444 public static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
445
446 public BSShapeMesh(BulletShape pShape) : base(pShape)
447 {
448 }
449 public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
450 {
451 float lod;
452 System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
453
454 BSShapeMesh retMesh = null;
455 lock (Meshes)
456 {
457 if (Meshes.TryGetValue(newMeshKey, out retMesh))
458 {
459 // The mesh has already been created. Return a new reference to same.
460 retMesh.IncrementReference();
461 }
462 else
463 {
464 retMesh = new BSShapeMesh(new BulletShape());
465 // An instance of this mesh has not been created. Build and remember same.
466 BulletShape newShape = retMesh.CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod);
467
468 // Check to see if mesh was created (might require an asset).
469 newShape = VerifyMeshCreated(physicsScene, newShape, prim);
470 if (!newShape.isNativeShape || prim.AssetFailed() )
471 {
472 // If a mesh was what was created, remember the built shape for later sharing.
473 // Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh.
474 Meshes.Add(newMeshKey, retMesh);
475 }
476
477 retMesh.physShapeInfo = newShape;
478 }
479 }
480 physicsScene.DetailLog("{0},BSShapeMesh,getReference,mesh={1},size={2},lod={3}", prim.LocalID, retMesh, prim.Size, lod);
481 return retMesh;
482 }
483 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
484 {
485 BSShape ret = null;
486 // If the underlying shape is native, the actual shape has not been build (waiting for asset)
487 // and we must create a copy of the native shape since they are never shared.
488 if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape)
489 {
490 // TODO: decide when the native shapes should be freed. Check in Dereference?
491 ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
492 }
493 else
494 {
495 // Another reference to this shape is just counted.
496 IncrementReference();
497 ret = this;
498 }
499 return ret;
500 }
501 public override void Dereference(BSScene physicsScene)
502 {
503 lock (Meshes)
504 {
505 this.DecrementReference();
506 physicsScene.DetailLog("{0},BSShapeMesh.Dereference,shape={1}", BSScene.DetailLogZero, this);
507 // TODO: schedule aging and destruction of unused meshes.
508 }
509 }
510 // Loop through all the known meshes and return the description based on the physical address.
511 public static bool TryGetMeshByPtr(BulletShape pShape, out BSShapeMesh outMesh)
512 {
513 bool ret = false;
514 BSShapeMesh foundDesc = null;
515 lock (Meshes)
516 {
517 foreach (BSShapeMesh sm in Meshes.Values)
518 {
519 if (sm.physShapeInfo.ReferenceSame(pShape))
520 {
521 foundDesc = sm;
522 ret = true;
523 break;
524 }
525
526 }
527 }
528 outMesh = foundDesc;
529 return ret;
530 }
531
532 public delegate BulletShape CreateShapeCall(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices );
533 private BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
534 PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
535 {
536 return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
537 (w, iC, i, vC, v) =>
538 {
539 shapeInfo.Vertices = vC;
540 return physicsScene.PE.CreateMeshShape(w, iC, i, vC, v);
541 });
542 }
543
544 // Code that uses the mesher to create the index/vertices info for a trimesh shape.
545 // This is used by the passed 'makeShape' call to create the Bullet mesh shape.
546 // The actual build call is passed so this logic can be used by several of the shapes that use a
547 // simple mesh as their base shape.
548 public static BulletShape CreatePhysicalMeshShape(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
549 PrimitiveBaseShape pbs, OMV.Vector3 size, float lod, CreateShapeCall makeShape)
550 {
551 BulletShape newShape = new BulletShape();
552
553 IMesh meshData = null;
554 lock (physicsScene.mesher)
555 {
556 meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod,
557 false, // say it is not physical so a bounding box is not built
558 false // do not cache the mesh and do not use previously built versions
559 );
560 }
561
562 if (meshData != null)
563 {
564 if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
565 {
566 // Release the fetched asset data once it has been used.
567 pbs.SculptData = new byte[0];
568 prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown;
569 }
570
571 int[] indices = meshData.getIndexListAsInt();
572 int realIndicesIndex = indices.Length;
573 float[] verticesAsFloats = meshData.getVertexListAsFloat();
574
575 if (BSParam.ShouldRemoveZeroWidthTriangles)
576 {
577 // Remove degenerate triangles. These are triangles with two of the vertices
578 // are the same. This is complicated by the problem that vertices are not
579 // made unique in sculpties so we have to compare the values in the vertex.
580 realIndicesIndex = 0;
581 for (int tri = 0; tri < indices.Length; tri += 3)
582 {
583 // Compute displacements into vertex array for each vertex of the triangle
584 int v1 = indices[tri + 0] * 3;
585 int v2 = indices[tri + 1] * 3;
586 int v3 = indices[tri + 2] * 3;
587 // Check to see if any two of the vertices are the same
588 if (!( ( verticesAsFloats[v1 + 0] == verticesAsFloats[v2 + 0]
589 && verticesAsFloats[v1 + 1] == verticesAsFloats[v2 + 1]
590 && verticesAsFloats[v1 + 2] == verticesAsFloats[v2 + 2])
591 || ( verticesAsFloats[v2 + 0] == verticesAsFloats[v3 + 0]
592 && verticesAsFloats[v2 + 1] == verticesAsFloats[v3 + 1]
593 && verticesAsFloats[v2 + 2] == verticesAsFloats[v3 + 2])
594 || ( verticesAsFloats[v1 + 0] == verticesAsFloats[v3 + 0]
595 && verticesAsFloats[v1 + 1] == verticesAsFloats[v3 + 1]
596 && verticesAsFloats[v1 + 2] == verticesAsFloats[v3 + 2]) )
597 )
598 {
599 // None of the vertices of the triangles are the same. This is a good triangle;
600 indices[realIndicesIndex + 0] = indices[tri + 0];
601 indices[realIndicesIndex + 1] = indices[tri + 1];
602 indices[realIndicesIndex + 2] = indices[tri + 2];
603 realIndicesIndex += 3;
604 }
605 }
606 }
607 physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,key={1},origTri={2},realTri={3},numVerts={4}",
608 BSScene.DetailLogZero, newMeshKey.ToString("X"), indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3);
609
610 if (realIndicesIndex != 0)
611 {
612 newShape = makeShape(physicsScene.World, realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats);
613 }
614 else
615 {
616 // Force the asset condition to 'failed' so we won't try to keep fetching and processing this mesh.
617 prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing;
618 physicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim={1}", LogHeader, UsefulPrimInfo(physicsScene, prim) );
619 physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,allDegenerate,key={1}", prim.LocalID, newMeshKey);
620 }
621 }
622 newShape.shapeKey = newMeshKey;
623
624 return newShape;
625 }
626}
627
628// ============================================================================================================
629// BSShapeHull is a physical shape representation htat is made up of many convex hulls.
630// The convex hulls are either supplied with the asset or are approximated by one of the
631// convex hull creation routines (in OpenSim or in Bullet).
632public class BSShapeHull : BSShape
633{
634#pragma warning disable 414
635 private static string LogHeader = "[BULLETSIM SHAPE HULL]";
636#pragma warning restore 414
637
638 public static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
639
640
641 public BSShapeHull(BulletShape pShape) : base(pShape)
642 {
643 }
644 public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
645 {
646 float lod;
647 System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
648
649 BSShapeHull retHull = null;
650 lock (Hulls)
651 {
652 if (Hulls.TryGetValue(newHullKey, out retHull))
653 {
654 // The mesh has already been created. Return a new reference to same.
655 retHull.IncrementReference();
656 }
657 else
658 {
659 retHull = new BSShapeHull(new BulletShape());
660 // An instance of this mesh has not been created. Build and remember same.
661 BulletShape newShape = retHull.CreatePhysicalHull(physicsScene, prim, newHullKey, prim.BaseShape, prim.Size, lod);
662
663 // Check to see if hull was created (might require an asset).
664 newShape = VerifyMeshCreated(physicsScene, newShape, prim);
665 if (!newShape.isNativeShape || prim.AssetFailed())
666 {
667 // If a mesh was what was created, remember the built shape for later sharing.
668 Hulls.Add(newHullKey, retHull);
669 }
670 retHull.physShapeInfo = newShape;
671 }
672 }
673 physicsScene.DetailLog("{0},BSShapeHull,getReference,hull={1},size={2},lod={3}", prim.LocalID, retHull, prim.Size, lod);
674 return retHull;
675 }
676 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
677 {
678 BSShape ret = null;
679 // If the underlying shape is native, the actual shape has not been build (waiting for asset)
680 // and we must create a copy of the native shape since they are never shared.
681 if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape)
682 {
683 // TODO: decide when the native shapes should be freed. Check in Dereference?
684 ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
685 }
686 else
687 {
688 // Another reference to this shape is just counted.
689 IncrementReference();
690 ret = this;
691 }
692 return ret;
693 }
694 public override void Dereference(BSScene physicsScene)
695 {
696 lock (Hulls)
697 {
698 this.DecrementReference();
699 physicsScene.DetailLog("{0},BSShapeHull.Dereference,shape={1}", BSScene.DetailLogZero, this);
700 // TODO: schedule aging and destruction of unused meshes.
701 }
702 }
703
704 List<ConvexResult> m_hulls;
705 private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey,
706 PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
707 {
708 BulletShape newShape = new BulletShape();
709
710 IMesh meshData = null;
711 List<List<OMV.Vector3>> allHulls = null;
712 lock (physicsScene.mesher)
713 {
714 // Pass true for physicalness as this prevents the creation of bounding box which is not needed
715 meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
716
717 // If we should use the asset's hull info, fetch it out of the locked mesher
718 if (meshData != null && BSParam.ShouldUseAssetHulls)
719 {
720 Meshmerizer realMesher = physicsScene.mesher as Meshmerizer;
721 if (realMesher != null)
722 {
723 allHulls = realMesher.GetConvexHulls(size);
724 }
725 if (allHulls == null)
726 {
727 physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,noAssetHull", prim.LocalID);
728 }
729 }
730 }
731
732 // If there is hull data in the mesh asset, build the hull from that
733 if (allHulls != null && BSParam.ShouldUseAssetHulls)
734 {
735 int hullCount = allHulls.Count;
736 shapeInfo.HullCount = hullCount;
737 int totalVertices = 1; // include one for the count of the hulls
738 // Using the structure described for HACD hulls, create the memory sturcture
739 // to pass the hull data to the creater.
740 foreach (List<OMV.Vector3> hullVerts in allHulls)
741 {
742 totalVertices += 4; // add four for the vertex count and centroid
743 totalVertices += hullVerts.Count * 3; // one vertex is three dimensions
744 }
745 float[] convHulls = new float[totalVertices];
746
747 convHulls[0] = (float)hullCount;
748 int jj = 1;
749 int hullIndex = 0;
750 foreach (List<OMV.Vector3> hullVerts in allHulls)
751 {
752 convHulls[jj + 0] = hullVerts.Count;
753 convHulls[jj + 1] = 0f; // centroid x,y,z
754 convHulls[jj + 2] = 0f;
755 convHulls[jj + 3] = 0f;
756 jj += 4;
757 foreach (OMV.Vector3 oneVert in hullVerts)
758 {
759 convHulls[jj + 0] = oneVert.X;
760 convHulls[jj + 1] = oneVert.Y;
761 convHulls[jj + 2] = oneVert.Z;
762 jj += 3;
763 }
764 shapeInfo.SetVerticesPerHull(hullIndex, hullVerts.Count);
765 hullIndex++;
766 }
767
768 // create the hull data structure in Bullet
769 newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
770
771 physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}",
772 prim.LocalID, hullCount, totalVertices, newShape);
773 }
774
775 // If no hull specified in the asset and we should use Bullet's HACD approximation...
776 if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD)
777 {
778 // Build the hull shape from an existing mesh shape.
779 // The mesh should have already been created in Bullet.
780 physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,entry", prim.LocalID);
781 BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim);
782
783 if (meshShape.physShapeInfo.HasPhysicalShape)
784 {
785 HACDParams parms = new HACDParams();
786 parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull;
787 parms.minClusters = BSParam.BHullMinClusters;
788 parms.compacityWeight = BSParam.BHullCompacityWeight;
789 parms.volumeWeight = BSParam.BHullVolumeWeight;
790 parms.concavity = BSParam.BHullConcavity;
791 parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints);
792 parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints);
793 parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints);
794 parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin);
795 parms.whichHACD = 0; // Use the HACD routine that comes with Bullet
796
797 physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape);
798 newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms);
799 physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID, newShape);
800
801 // Now done with the mesh shape.
802 shapeInfo.HullCount = 1;
803 BSShapeMesh maybeMesh = meshShape as BSShapeMesh;
804 if (maybeMesh != null)
805 shapeInfo.SetVerticesPerHull(0, maybeMesh.shapeInfo.Vertices);
806 meshShape.Dereference(physicsScene);
807 }
808 physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
809 }
810
811 // If no other hull specifications, use our HACD hull approximation.
812 if (!newShape.HasPhysicalShape && meshData != null)
813 {
814 if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
815 {
816 // Release the fetched asset data once it has been used.
817 pbs.SculptData = new byte[0];
818 prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown;
819 }
820
821 int[] indices = meshData.getIndexListAsInt();
822 List<OMV.Vector3> vertices = meshData.getVertexList();
823
824 //format conversion from IMesh format to DecompDesc format
825 List<int> convIndices = new List<int>();
826 List<float3> convVertices = new List<float3>();
827 for (int ii = 0; ii < indices.GetLength(0); ii++)
828 {
829 convIndices.Add(indices[ii]);
830 }
831 foreach (OMV.Vector3 vv in vertices)
832 {
833 convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
834 }
835
836 uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
837 if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
838 {
839 // Simple primitive shapes we know are convex so they are better implemented with
840 // fewer hulls.
841 // Check for simple shape (prim without cuts) and reduce split parameter if so.
842 if (BSShapeCollection.PrimHasNoCuts(pbs))
843 {
844 maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
845 }
846 }
847
848 // setup and do convex hull conversion
849 m_hulls = new List<ConvexResult>();
850 DecompDesc dcomp = new DecompDesc();
851 dcomp.mIndices = convIndices;
852 dcomp.mVertices = convVertices;
853 dcomp.mDepth = maxDepthSplit;
854 dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
855 dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
856 dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
857 dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
858 ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
859 // create the hull into the _hulls variable
860 convexBuilder.process(dcomp);
861
862 physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
863 BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count);
864
865 // Convert the vertices and indices for passing to unmanaged.
866 // The hull information is passed as a large floating point array.
867 // The format is:
868 // convHulls[0] = number of hulls
869 // convHulls[1] = number of vertices in first hull
870 // convHulls[2] = hull centroid X coordinate
871 // convHulls[3] = hull centroid Y coordinate
872 // convHulls[4] = hull centroid Z coordinate
873 // convHulls[5] = first hull vertex X
874 // convHulls[6] = first hull vertex Y
875 // convHulls[7] = first hull vertex Z
876 // convHulls[8] = second hull vertex X
877 // ...
878 // convHulls[n] = number of vertices in second hull
879 // convHulls[n+1] = second hull centroid X coordinate
880 // ...
881 //
882 // TODO: is is very inefficient. Someday change the convex hull generator to return
883 // data structures that do not need to be converted in order to pass to Bullet.
884 // And maybe put the values directly into pinned memory rather than marshaling.
885 int hullCount = m_hulls.Count;
886 int totalVertices = 1; // include one for the count of the hulls
887 foreach (ConvexResult cr in m_hulls)
888 {
889 totalVertices += 4; // add four for the vertex count and centroid
890 totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
891 }
892 float[] convHulls = new float[totalVertices];
893
894 convHulls[0] = (float)hullCount;
895 int jj = 1;
896 foreach (ConvexResult cr in m_hulls)
897 {
898 // copy vertices for index access
899 float3[] verts = new float3[cr.HullVertices.Count];
900 int kk = 0;
901 foreach (float3 ff in cr.HullVertices)
902 {
903 verts[kk++] = ff;
904 }
905
906 // add to the array one hull's worth of data
907 convHulls[jj++] = cr.HullIndices.Count;
908 convHulls[jj++] = 0f; // centroid x,y,z
909 convHulls[jj++] = 0f;
910 convHulls[jj++] = 0f;
911 foreach (int ind in cr.HullIndices)
912 {
913 convHulls[jj++] = verts[ind].x;
914 convHulls[jj++] = verts[ind].y;
915 convHulls[jj++] = verts[ind].z;
916 }
917 }
918 // create the hull data structure in Bullet
919 newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
920 }
921 newShape.shapeKey = newHullKey;
922 return newShape;
923 }
924 // Callback from convex hull creater with a newly created hull.
925 // Just add it to our collection of hulls for this shape.
926 private void HullReturn(ConvexResult result)
927 {
928 m_hulls.Add(result);
929 return;
930 }
931 // Loop through all the known hulls and return the description based on the physical address.
932 public static bool TryGetHullByPtr(BulletShape pShape, out BSShapeHull outHull)
933 {
934 bool ret = false;
935 BSShapeHull foundDesc = null;
936 lock (Hulls)
937 {
938 foreach (BSShapeHull sh in Hulls.Values)
939 {
940 if (sh.physShapeInfo.ReferenceSame(pShape))
941 {
942 foundDesc = sh;
943 ret = true;
944 break;
945 }
946
947 }
948 }
949 outHull = foundDesc;
950 return ret;
951 }
952}
953
954// ============================================================================================================
955// BSShapeCompound is a wrapper for the Bullet compound shape which is built from multiple, separate
956// meshes. Used by BulletSim for complex shapes like linksets.
957public class BSShapeCompound : BSShape
958{
959 private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
960 public static Dictionary<string, BSShapeCompound> CompoundShapes = new Dictionary<string, BSShapeCompound>();
961
962 public BSShapeCompound(BulletShape pShape) : base(pShape)
963 {
964 }
965 public static BSShape GetReference(BSScene physicsScene)
966 {
967 // Base compound shapes are not shared so this returns a raw shape.
968 // A built compound shape can be reused in linksets.
969 BSShapeCompound ret = new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene));
970 CompoundShapes.Add(ret.AddrString, ret);
971 return ret;
972 }
973 public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim)
974 {
975 // Calling this reference means we want another handle to an existing compound shape
976 // (usually linksets) so return this copy.
977 IncrementReference();
978 return this;
979 }
980 // Dereferencing a compound shape releases the hold on all the child shapes.
981 public override void Dereference(BSScene physicsScene)
982 {
983 lock (physShapeInfo)
984 {
985 this.DecrementReference();
986 physicsScene.DetailLog("{0},BSShapeCompound.Dereference,shape={1}", BSScene.DetailLogZero, this);
987 if (referenceCount <= 0)
988 {
989 if (!physicsScene.PE.IsCompound(physShapeInfo))
990 {
991 // Failed the sanity check!!
992 physicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
993 LogHeader, physShapeInfo.shapeType, physShapeInfo.AddrString);
994 physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
995 BSScene.DetailLogZero, physShapeInfo.shapeType, physShapeInfo.AddrString);
996 return;
997 }
998
999 int numChildren = physicsScene.PE.GetNumberOfCompoundChildren(physShapeInfo);
1000 physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}",
1001 BSScene.DetailLogZero, physShapeInfo, numChildren);
1002
1003 // Loop through all the children dereferencing each.
1004 for (int ii = numChildren - 1; ii >= 0; ii--)
1005 {
1006 BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii);
1007 DereferenceAnonCollisionShape(physicsScene, childShape);
1008 }
1009
1010 lock (CompoundShapes)
1011 CompoundShapes.Remove(physShapeInfo.AddrString);
1012 physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
1013 }
1014 }
1015 }
1016 public static bool TryGetCompoundByPtr(BulletShape pShape, out BSShapeCompound outCompound)
1017 {
1018 lock (CompoundShapes)
1019 {
1020 string addr = pShape.AddrString;
1021 return CompoundShapes.TryGetValue(addr, out outCompound);
1022 }
1023 }
1024 private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene)
1025 {
1026 BulletShape cShape = physicsScene.PE.CreateCompoundShape(physicsScene.World, false);
1027 return cShape;
1028 }
1029 // Sometimes we have a pointer to a collision shape but don't know what type it is.
1030 // Figure out type and call the correct dereference routine.
1031 // Called at taint-time.
1032 private void DereferenceAnonCollisionShape(BSScene physicsScene, BulletShape pShape)
1033 {
1034 // TODO: figure a better way to go through all the shape types and find a possible instance.
1035 physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,shape={1}",
1036 BSScene.DetailLogZero, pShape);
1037 BSShapeMesh meshDesc;
1038 if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc))
1039 {
1040 meshDesc.Dereference(physicsScene);
1041 // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundMesh,shape={1}", BSScene.DetailLogZero, pShape);
1042 }
1043 else
1044 {
1045 BSShapeHull hullDesc;
1046 if (BSShapeHull.TryGetHullByPtr(pShape, out hullDesc))
1047 {
1048 hullDesc.Dereference(physicsScene);
1049 // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundHull,shape={1}", BSScene.DetailLogZero, pShape);
1050 }
1051 else
1052 {
1053 BSShapeConvexHull chullDesc;
1054 if (BSShapeConvexHull.TryGetConvexHullByPtr(pShape, out chullDesc))
1055 {
1056 chullDesc.Dereference(physicsScene);
1057 // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundConvexHull,shape={1}", BSScene.DetailLogZero, pShape);
1058 }
1059 else
1060 {
1061 BSShapeGImpact gImpactDesc;
1062 if (BSShapeGImpact.TryGetGImpactByPtr(pShape, out gImpactDesc))
1063 {
1064 gImpactDesc.Dereference(physicsScene);
1065 // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundgImpact,shape={1}", BSScene.DetailLogZero, pShape);
1066 }
1067 else
1068 {
1069 // Didn't find it in the lists of specific types. It could be compound.
1070 BSShapeCompound compoundDesc;
1071 if (BSShapeCompound.TryGetCompoundByPtr(pShape, out compoundDesc))
1072 {
1073 compoundDesc.Dereference(physicsScene);
1074 // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,recursiveCompoundShape,shape={1}", BSScene.DetailLogZero, pShape);
1075 }
1076 else
1077 {
1078 // If none of the above, maybe it is a simple native shape.
1079 if (physicsScene.PE.IsNativeShape(pShape))
1080 {
1081 // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,assumingNative,shape={1}", BSScene.DetailLogZero, pShape);
1082 BSShapeNative nativeShape = new BSShapeNative(pShape);
1083 nativeShape.Dereference(physicsScene);
1084 }
1085 else
1086 {
1087 physicsScene.Logger.WarnFormat("{0} DereferenceAnonCollisionShape. Did not find shape. {1}",
1088 LogHeader, pShape);
1089 }
1090 }
1091 }
1092 }
1093 }
1094 }
1095 }
1096}
1097
1098// ============================================================================================================
1099// BSShapeConvexHull is a wrapper for a Bullet single convex hull. A BSShapeHull contains multiple convex
1100// hull shapes. This is used for simple prims that are convex and thus can be made into a simple
1101// collision shape (a single hull). More complex physical shapes will be BSShapeHull's.
1102public class BSShapeConvexHull : BSShape
1103{
1104#pragma warning disable 414
1105 private static string LogHeader = "[BULLETSIM SHAPE CONVEX HULL]";
1106#pragma warning restore 414
1107
1108 public static Dictionary<System.UInt64, BSShapeConvexHull> ConvexHulls = new Dictionary<System.UInt64, BSShapeConvexHull>();
1109
1110 public BSShapeConvexHull(BulletShape pShape) : base(pShape)
1111 {
1112 }
1113 public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
1114 {
1115 float lod;
1116 System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
1117
1118 physicsScene.DetailLog("{0},BSShapeConvexHull,getReference,newKey={1},size={2},lod={3}",
1119 prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod);
1120
1121 BSShapeConvexHull retConvexHull = null;
1122 lock (ConvexHulls)
1123 {
1124 if (ConvexHulls.TryGetValue(newMeshKey, out retConvexHull))
1125 {
1126 // The mesh has already been created. Return a new reference to same.
1127 retConvexHull.IncrementReference();
1128 }
1129 else
1130 {
1131 retConvexHull = new BSShapeConvexHull(new BulletShape());
1132 BulletShape convexShape = null;
1133
1134 // Get a handle to a mesh to build the hull from
1135 BSShape baseMesh = BSShapeMesh.GetReference(physicsScene, false /* forceRebuild */, prim);
1136 if (baseMesh.physShapeInfo.isNativeShape)
1137 {
1138 // We get here if the mesh was not creatable. Could be waiting for an asset from the disk.
1139 // In the short term, we return the native shape and a later ForceBodyShapeRebuild should
1140 // get back to this code with a buildable mesh.
1141 // TODO: not sure the temp native shape is freed when the mesh is rebuilt. When does this get freed?
1142 convexShape = baseMesh.physShapeInfo;
1143 }
1144 else
1145 {
1146 convexShape = physicsScene.PE.BuildConvexHullShapeFromMesh(physicsScene.World, baseMesh.physShapeInfo);
1147 convexShape.shapeKey = newMeshKey;
1148 ConvexHulls.Add(convexShape.shapeKey, retConvexHull);
1149 physicsScene.DetailLog("{0},BSShapeConvexHull.GetReference,addingNewlyCreatedShape,shape={1}",
1150 BSScene.DetailLogZero, convexShape);
1151 }
1152
1153 // Done with the base mesh
1154 baseMesh.Dereference(physicsScene);
1155
1156 retConvexHull.physShapeInfo = convexShape;
1157 }
1158 }
1159 return retConvexHull;
1160 }
1161 public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim)
1162 {
1163 // Calling this reference means we want another handle to an existing shape
1164 // (usually linksets) so return this copy.
1165 IncrementReference();
1166 return this;
1167 }
1168 // Dereferencing a compound shape releases the hold on all the child shapes.
1169 public override void Dereference(BSScene physicsScene)
1170 {
1171 lock (ConvexHulls)
1172 {
1173 this.DecrementReference();
1174 physicsScene.DetailLog("{0},BSShapeConvexHull.Dereference,shape={1}", BSScene.DetailLogZero, this);
1175 // TODO: schedule aging and destruction of unused meshes.
1176 }
1177 }
1178 // Loop through all the known hulls and return the description based on the physical address.
1179 public static bool TryGetConvexHullByPtr(BulletShape pShape, out BSShapeConvexHull outHull)
1180 {
1181 bool ret = false;
1182 BSShapeConvexHull foundDesc = null;
1183 lock (ConvexHulls)
1184 {
1185 foreach (BSShapeConvexHull sh in ConvexHulls.Values)
1186 {
1187 if (sh.physShapeInfo.ReferenceSame(pShape))
1188 {
1189 foundDesc = sh;
1190 ret = true;
1191 break;
1192 }
1193
1194 }
1195 }
1196 outHull = foundDesc;
1197 return ret;
1198 }
1199}
1200// ============================================================================================================
1201// BSShapeGImpact is a wrapper for the Bullet GImpact shape which is a collision mesh shape that
1202// can handle concave as well as convex shapes. Much slower computationally but creates smoother
1203// shapes than multiple convex hull approximations.
1204public class BSShapeGImpact : BSShape
1205{
1206#pragma warning disable 414
1207 private static string LogHeader = "[BULLETSIM SHAPE GIMPACT]";
1208#pragma warning restore 414
1209
1210 public static Dictionary<System.UInt64, BSShapeGImpact> GImpacts = new Dictionary<System.UInt64, BSShapeGImpact>();
1211
1212 public BSShapeGImpact(BulletShape pShape) : base(pShape)
1213 {
1214 }
1215 public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
1216 {
1217 float lod;
1218 System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
1219
1220 physicsScene.DetailLog("{0},BSShapeGImpact,getReference,newKey={1},size={2},lod={3}",
1221 prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod);
1222
1223 BSShapeGImpact retGImpact = null;
1224 lock (GImpacts)
1225 {
1226 if (GImpacts.TryGetValue(newMeshKey, out retGImpact))
1227 {
1228 // The mesh has already been created. Return a new reference to same.
1229 retGImpact.IncrementReference();
1230 }
1231 else
1232 {
1233 retGImpact = new BSShapeGImpact(new BulletShape());
1234 BulletShape newShape = retGImpact.CreatePhysicalGImpact(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod);
1235
1236 // Check to see if mesh was created (might require an asset).
1237 newShape = VerifyMeshCreated(physicsScene, newShape, prim);
1238 newShape.shapeKey = newMeshKey;
1239 if (!newShape.isNativeShape || prim.AssetFailed())
1240 {
1241 // If a mesh was what was created, remember the built shape for later sharing.
1242 // Also note that if meshing failed we put it in the mesh list as there is nothing
1243 // else to do about the mesh.
1244 GImpacts.Add(newMeshKey, retGImpact);
1245 }
1246
1247 retGImpact.physShapeInfo = newShape;
1248 }
1249 }
1250 return retGImpact;
1251 }
1252
1253 private BulletShape CreatePhysicalGImpact(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
1254 PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
1255 {
1256 return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
1257 (w, iC, i, vC, v) =>
1258 {
1259 shapeInfo.Vertices = vC;
1260 return physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v);
1261 });
1262 }
1263
1264 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
1265 {
1266 BSShape ret = null;
1267 // If the underlying shape is native, the actual shape has not been build (waiting for asset)
1268 // and we must create a copy of the native shape since they are never shared.
1269 if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape)
1270 {
1271 // TODO: decide when the native shapes should be freed. Check in Dereference?
1272 ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
1273 }
1274 else
1275 {
1276 // Another reference to this shape is just counted.
1277 IncrementReference();
1278 ret = this;
1279 }
1280 return ret;
1281 }
1282 // Dereferencing a compound shape releases the hold on all the child shapes.
1283 public override void Dereference(BSScene physicsScene)
1284 {
1285 lock (GImpacts)
1286 {
1287 this.DecrementReference();
1288 physicsScene.DetailLog("{0},BSShapeGImpact.Dereference,shape={1}", BSScene.DetailLogZero, this);
1289 // TODO: schedule aging and destruction of unused meshes.
1290 }
1291 }
1292 // Loop through all the known hulls and return the description based on the physical address.
1293 public static bool TryGetGImpactByPtr(BulletShape pShape, out BSShapeGImpact outHull)
1294 {
1295 bool ret = false;
1296 BSShapeGImpact foundDesc = null;
1297 lock (GImpacts)
1298 {
1299 foreach (BSShapeGImpact sh in GImpacts.Values)
1300 {
1301 if (sh.physShapeInfo.ReferenceSame(pShape))
1302 {
1303 foundDesc = sh;
1304 ret = true;
1305 break;
1306 }
1307
1308 }
1309 }
1310 outHull = foundDesc;
1311 return ret;
1312 }
1313}
1314
1315// ============================================================================================================
1316// BSShapeAvatar is a specialized mesh shape for avatars.
1317public class BSShapeAvatar : BSShape
1318{
1319#pragma warning disable 414
1320 private static string LogHeader = "[BULLETSIM SHAPE AVATAR]";
1321#pragma warning restore 414
1322
1323 public BSShapeAvatar()
1324 : base()
1325 {
1326 }
1327 public static BSShape GetReference(BSPhysObject prim)
1328 {
1329 return new BSShapeNull();
1330 }
1331 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
1332 {
1333 return new BSShapeNull();
1334 }
1335 public override void Dereference(BSScene physicsScene) { }
1336
1337 // From the front:
1338 // A---A
1339 // / \
1340 // B-------B
1341 // / \ +Z
1342 // C-----------C |
1343 // \ / -Y --+-- +Y
1344 // \ / |
1345 // \ / -Z
1346 // D-----D
1347 // \ /
1348 // E-E
1349
1350 // From the top A and E are just lines.
1351 // B, C and D are hexagons:
1352 //
1353 // C1--C2 +X
1354 // / \ |
1355 // C0 C3 -Y --+-- +Y
1356 // \ / |
1357 // C5--C4 -X
1358
1359 // Zero goes directly through the middle so the offsets are from that middle axis
1360 // and up and down from a middle horizon (A and E are the same distance from the zero).
1361 // The height, width and depth is one. All scaling is done by the simulator.
1362
1363 // Z component -- how far the level is from the middle zero
1364 private const float Aup = 0.5f;
1365 private const float Bup = 0.4f;
1366 private const float Cup = 0.3f;
1367 private const float Dup = -0.4f;
1368 private const float Eup = -0.5f;
1369
1370 // Y component -- distance from center to x0 and x3
1371 private const float Awid = 0.25f;
1372 private const float Bwid = 0.3f;
1373 private const float Cwid = 0.5f;
1374 private const float Dwid = 0.3f;
1375 private const float Ewid = 0.2f;
1376
1377 // Y component -- distance from center to x1, x2, x4 and x5
1378 private const float Afwid = 0.0f;
1379 private const float Bfwid = 0.2f;
1380 private const float Cfwid = 0.4f;
1381 private const float Dfwid = 0.2f;
1382 private const float Efwid = 0.0f;
1383
1384 // X component -- distance from zero to the front or back of a level
1385 private const float Adep = 0f;
1386 private const float Bdep = 0.3f;
1387 private const float Cdep = 0.5f;
1388 private const float Ddep = 0.2f;
1389 private const float Edep = 0f;
1390
1391 private OMV.Vector3[] avatarVertices = {
1392 new OMV.Vector3( 0.0f, -Awid, Aup), // A0
1393 new OMV.Vector3( 0.0f, +Awid, Aup), // A3
1394
1395 new OMV.Vector3( 0.0f, -Bwid, Bup), // B0
1396 new OMV.Vector3(+Bdep, -Bfwid, Bup), // B1
1397 new OMV.Vector3(+Bdep, +Bfwid, Bup), // B2
1398 new OMV.Vector3( 0.0f, +Bwid, Bup), // B3
1399 new OMV.Vector3(-Bdep, +Bfwid, Bup), // B4
1400 new OMV.Vector3(-Bdep, -Bfwid, Bup), // B5
1401
1402 new OMV.Vector3( 0.0f, -Cwid, Cup), // C0
1403 new OMV.Vector3(+Cdep, -Cfwid, Cup), // C1
1404 new OMV.Vector3(+Cdep, +Cfwid, Cup), // C2
1405 new OMV.Vector3( 0.0f, +Cwid, Cup), // C3
1406 new OMV.Vector3(-Cdep, +Cfwid, Cup), // C4
1407 new OMV.Vector3(-Cdep, -Cfwid, Cup), // C5
1408
1409 new OMV.Vector3( 0.0f, -Dwid, Dup), // D0
1410 new OMV.Vector3(+Ddep, -Dfwid, Dup), // D1
1411 new OMV.Vector3(+Ddep, +Dfwid, Dup), // D2
1412 new OMV.Vector3( 0.0f, +Dwid, Dup), // D3
1413 new OMV.Vector3(-Ddep, +Dfwid, Dup), // D4
1414 new OMV.Vector3(-Ddep, -Dfwid, Dup), // D5
1415
1416 new OMV.Vector3( 0.0f, -Ewid, Eup), // E0
1417 new OMV.Vector3( 0.0f, +Ewid, Eup), // E3
1418 };
1419
1420 // Offsets of the vertices in the vertices array
1421 private enum Ind : int
1422 {
1423 A0, A3,
1424 B0, B1, B2, B3, B4, B5,
1425 C0, C1, C2, C3, C4, C5,
1426 D0, D1, D2, D3, D4, D5,
1427 E0, E3
1428 }
1429
1430 // Comments specify trianges and quads in clockwise direction
1431 private Ind[] avatarIndices = {
1432 Ind.A0, Ind.B0, Ind.B1, // A0,B0,B1
1433 Ind.A0, Ind.B1, Ind.B2, Ind.B2, Ind.A3, Ind.A0, // A0,B1,B2,A3
1434 Ind.A3, Ind.B2, Ind.B3, // A3,B2,B3
1435 Ind.A3, Ind.B3, Ind.B4, // A3,B3,B4
1436 Ind.A3, Ind.B4, Ind.B5, Ind.B5, Ind.A0, Ind.A3, // A3,B4,B5,A0
1437 Ind.A0, Ind.B5, Ind.B0, // A0,B5,B0
1438
1439 Ind.B0, Ind.C0, Ind.C1, Ind.C1, Ind.B1, Ind.B0, // B0,C0,C1,B1
1440 Ind.B1, Ind.C1, Ind.C2, Ind.C2, Ind.B2, Ind.B1, // B1,C1,C2,B2
1441 Ind.B2, Ind.C2, Ind.C3, Ind.C3, Ind.B3, Ind.B2, // B2,C2,C3,B3
1442 Ind.B3, Ind.C3, Ind.C4, Ind.C4, Ind.B4, Ind.B3, // B3,C3,C4,B4
1443 Ind.B4, Ind.C4, Ind.C5, Ind.C5, Ind.B5, Ind.B4, // B4,C4,C5,B5
1444 Ind.B5, Ind.C5, Ind.C0, Ind.C0, Ind.B0, Ind.B5, // B5,C5,C0,B0
1445
1446 Ind.C0, Ind.D0, Ind.D1, Ind.D1, Ind.C1, Ind.C0, // C0,D0,D1,C1
1447 Ind.C1, Ind.D1, Ind.D2, Ind.D2, Ind.C2, Ind.C1, // C1,D1,D2,C2
1448 Ind.C2, Ind.D2, Ind.D3, Ind.D3, Ind.C3, Ind.C2, // C2,D2,D3,C3
1449 Ind.C3, Ind.D3, Ind.D4, Ind.D4, Ind.C4, Ind.C3, // C3,D3,D4,C4
1450 Ind.C4, Ind.D4, Ind.D5, Ind.D5, Ind.C5, Ind.C4, // C4,D4,D5,C5
1451 Ind.C5, Ind.D5, Ind.D0, Ind.D0, Ind.C0, Ind.C5, // C5,D5,D0,C0
1452
1453 Ind.E0, Ind.D0, Ind.D1, // E0,D0,D1
1454 Ind.E0, Ind.D1, Ind.D2, Ind.D2, Ind.E3, Ind.E0, // E0,D1,D2,E3
1455 Ind.E3, Ind.D2, Ind.D3, // E3,D2,D3
1456 Ind.E3, Ind.D3, Ind.D4, // E3,D3,D4
1457 Ind.E3, Ind.D4, Ind.D5, Ind.D5, Ind.E0, Ind.E3, // E3,D4,D5,E0
1458 Ind.E0, Ind.D5, Ind.D0, // E0,D5,D0
1459
1460 };
1461
1462}
1463}
generated by cgit v1.1 at 2024-12-30 13:39:15 +0000