From 079a1e704fcaa9fddc9bb3de0a205969cba058bc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 18 Nov 2012 18:17:30 -0800 Subject: BulletSim: remove the obsolete interface to the Bullet code. Update BulletSim libraries with code stripped of the obsolete code. --- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 134 --------------------- 1 file changed, 134 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 07149d8..28fae13 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -429,140 +429,6 @@ static class BulletSimAPI { [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -[return: MarshalAs(UnmanagedType.LPStr)] -public static extern string GetVersion(); - -/* Remove the linkage to the old api methods -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray, - DebugLogCallback logRoutine); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Shutdown(uint worldID); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateParameter(uint worldID, uint localID, - [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value); - -// =============================================================================== -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, - out IntPtr updatedEntitiesPtr, - out int collidersCount, - out IntPtr collidersPtr); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, - int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls - ); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, - int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, - int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices - ); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CreateObject(uint worldID, ShapeData shapeData); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetObjectPosition(uint WorldID, uint id); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Quaternion GetObjectOrientation(uint WorldID, uint id); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); - -// Set the current force acting on the object -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool HasObject(uint worldID, uint id); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyObject(uint worldID, uint id); - -// =============================================================================== -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 RecoverFromPenetration(uint worldID, uint id); - -// =============================================================================== -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpBulletStatistics(); -*/ -// Log a debug message -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetDebugLogCallback(DebugLogCallback callback); - -// =============================================================================== -// =============================================================================== -// =============================================================================== -// A new version of the API that enables moving all the logic out of the C++ code and into -// the C# code. This will make modifications easier for the next person. -// This interface passes the actual pointers to the objects in the unmanaged -// address space. All the management (calls for creation/destruction/lookup) -// is done in the C# code. -// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt -// and the old code is removed. - -// Functions use while converting from API1 to API2. Can be removed when totally converted. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetSimHandle2(uint worldID); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); - // =============================================================================== // Initialization and simulation [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From d6db0d5740dae03174f65846556f2f06d573b5c4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 11:24:25 -0800 Subject: BulletSim: uplevel PhysicsShapeType out of ShapeData structure (since it is getting simplified out of existance someday) and update all the references to that enum. --- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 37 +++++++++++----------- 1 file changed, 19 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 28fae13..bb63b0a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -88,11 +88,11 @@ public struct BulletShape public BulletShape(IntPtr xx) { ptr = xx; - type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + type=PhysicsShapeType.SHAPE_UNKNOWN; shapeKey = 0; isNativeShape = false; } - public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) + public BulletShape(IntPtr xx, PhysicsShapeType typ) { ptr = xx; type = typ; @@ -100,7 +100,7 @@ public struct BulletShape isNativeShape = false; } public IntPtr ptr; - public ShapeData.PhysicsShapeType type; + public PhysicsShapeType type; public System.UInt64 shapeKey; public bool isNativeShape; public override string ToString() @@ -178,24 +178,25 @@ public struct ConvexHull int VertexCount; Vector3[] Vertices; } +public enum PhysicsShapeType +{ + SHAPE_UNKNOWN = 0, + SHAPE_AVATAR = 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, +}; [StructLayout(LayoutKind.Sequential)] public struct ShapeData { - public enum PhysicsShapeType - { - SHAPE_UNKNOWN = 0, - SHAPE_AVATAR = 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, - }; public uint ID; public PhysicsShapeType Type; public Vector3 Position; -- cgit v1.1 From 65e55ada87e110b65f3d69eb0a4f2402fb1f3ece Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 11:30:22 -0800 Subject: BulletSim: uplevel FixedShapeKey out of ShapeData structure (since it is getting simplified out of existance someday) and update all the references to same. --- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 24 ++++++++++++---------- 1 file changed, 13 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index bb63b0a..75e7f99 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -89,7 +89,7 @@ public struct BulletShape { ptr = xx; type=PhysicsShapeType.SHAPE_UNKNOWN; - shapeKey = 0; + shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; isNativeShape = false; } public BulletShape(IntPtr xx, PhysicsShapeType typ) @@ -194,6 +194,18 @@ public enum PhysicsShapeType SHAPE_COMPOUND = 22, SHAPE_HEIGHTMAP = 23, }; + +// The native shapes have predefined shape hash keys +public enum FixedShapeKey : ulong +{ + KEY_NONE = 0, + KEY_BOX = 1, + KEY_SPHERE = 2, + KEY_CONE = 3, + KEY_CYLINDER = 4, + KEY_CAPSULE = 5, +} + [StructLayout(LayoutKind.Sequential)] public struct ShapeData { @@ -217,16 +229,6 @@ public struct ShapeData // note that bools are passed as floats since bool size changes by language and architecture public const float numericTrue = 1f; public const float numericFalse = 0f; - - // The native shapes have predefined shape hash keys - public enum FixedShapeKey : ulong - { - KEY_BOX = 1, - KEY_SPHERE = 2, - KEY_CONE = 3, - KEY_CYLINDER = 4, - KEY_CAPSULE = 5, - } } [StructLayout(LayoutKind.Sequential)] public struct SweepHit -- cgit v1.1 From 8dd5813889b17cc213d20491b41dbf8142b3ccb9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 11:33:42 -0800 Subject: BulletSim: rename SHAPE_AVATAR to SHAPE_CAPSULE with the eye to eventually having mesh avatars. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 75e7f99..407d6d7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -181,7 +181,7 @@ public struct ConvexHull public enum PhysicsShapeType { SHAPE_UNKNOWN = 0, - SHAPE_AVATAR = 1, + SHAPE_CAPSULE = 1, SHAPE_BOX = 2, SHAPE_CONE = 3, SHAPE_CYLINDER = 4, -- cgit v1.1 From 71b9640dfa67e830769aad64ef208d767e102c92 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 14:51:50 -0800 Subject: BulletSim: pull heightmap implementation out of the terrain manager so a mesh terrain can be implemented. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 407d6d7..bab3b3d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -152,7 +152,7 @@ public class BulletHeightMapInfo ID = id; Ptr = xx; heightMap = hm; - terrainRegionBase = new Vector2(0f, 0f); + terrainRegionBase = Vector3.Zero; minCoords = new Vector3(100f, 100f, 25f); maxCoords = new Vector3(101f, 101f, 26f); minZ = maxZ = 0f; @@ -161,7 +161,7 @@ public class BulletHeightMapInfo public uint ID; public IntPtr Ptr; public float[] heightMap; - public Vector2 terrainRegionBase; + public Vector3 terrainRegionBase; public Vector3 minCoords; public Vector3 maxCoords; public float sizeX, sizeY; -- cgit v1.1 From 34cbc738a84b7946a87e8bfd3bb04869519b3dee Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 20:36:49 -0800 Subject: BulletSim: enablement and debugging of mesh terrain. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index bab3b3d..a2271a9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -391,13 +391,13 @@ public enum CollisionFilterGroups : uint ObjectFilter = BSolidFilter, ObjectMask = BAllFilter, StaticObjectFilter = BStaticFilter, - StaticObjectMask = BAllFilter, + StaticObjectMask = BAllFilter & ~BStaticFilter, // static objects don't collide with each other LinksetFilter = BLinksetFilter, - LinksetMask = BAllFilter & ~BLinksetFilter, + LinksetMask = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other VolumeDetectFilter = BSensorTrigger, VolumeDetectMask = ~BSensorTrigger, TerrainFilter = BTerrainFilter, - TerrainMask = BAllFilter & ~BStaticFilter, + TerrainMask = BAllFilter & ~BStaticFilter, // static objects on the ground don't collide GroundPlaneFilter = BGroundPlaneFilter, GroundPlaneMask = BAllFilter -- cgit v1.1 From a59368c4a1889ccd79da9e564ee84b213a7f6fbd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 21 Nov 2012 10:37:40 -0800 Subject: BulletSim: add terrainImplementation parameter with default to Mesh. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 1 + 1 file changed, 1 insertion(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index a2271a9..e218053 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -283,6 +283,7 @@ public struct ConfigurationParameters public float ccdSweptSphereRadius; public float contactProcessingThreshold; + public float terrainImplementation; public float terrainFriction; public float terrainHitFraction; public float terrainRestitution; -- cgit v1.1 From cbc7e7bf85bfd9e916146b0ae4a605996c24720b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 21 Nov 2012 16:31:23 -0800 Subject: BulletSim: Make avatar capsule so it is not circular. Simple attempt to make avatars better shaped. Replace parameter 'avatarCapsuleRadius' with 'avatarCapsuleWidth' and 'avatarCapsuleDepth'. More tweeking to avatar height calculation. A little better but short avatar's feet are above the terrain and tall avatar's feet are a little below the ground. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index e218053..4647c2d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -291,7 +291,8 @@ public struct ConfigurationParameters public float avatarStandingFriction; public float avatarDensity; public float avatarRestitution; - public float avatarCapsuleRadius; + public float avatarCapsuleWidth; + public float avatarCapsuleDepth; public float avatarCapsuleHeight; public float avatarContactProcessingThreshold; -- cgit v1.1 From 3b2caa63b0ba890555990a88821ee37daa2607b4 Mon Sep 17 00:00:00 2001 From: Melanie Date: Thu, 22 Nov 2012 14:45:41 +0000 Subject: Rename BulletSim's PhysicsShapeType to BSPhysicsShapeType because it conflicts with PhysicsShape type defined in later libOMV --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 4647c2d..e60a760 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -88,11 +88,11 @@ public struct BulletShape public BulletShape(IntPtr xx) { ptr = xx; - type=PhysicsShapeType.SHAPE_UNKNOWN; + type=BSPhysicsShapeType.SHAPE_UNKNOWN; shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; isNativeShape = false; } - public BulletShape(IntPtr xx, PhysicsShapeType typ) + public BulletShape(IntPtr xx, BSPhysicsShapeType typ) { ptr = xx; type = typ; @@ -100,7 +100,7 @@ public struct BulletShape isNativeShape = false; } public IntPtr ptr; - public PhysicsShapeType type; + public BSPhysicsShapeType type; public System.UInt64 shapeKey; public bool isNativeShape; public override string ToString() @@ -178,7 +178,7 @@ public struct ConvexHull int VertexCount; Vector3[] Vertices; } -public enum PhysicsShapeType +public enum BSPhysicsShapeType { SHAPE_UNKNOWN = 0, SHAPE_CAPSULE = 1, @@ -210,7 +210,7 @@ public enum FixedShapeKey : ulong public struct ShapeData { public uint ID; - public PhysicsShapeType Type; + public BSPhysicsShapeType Type; public Vector3 Position; public Quaternion Rotation; public Vector3 Velocity; -- cgit v1.1 From d1480ac7ee3f4a7386feac261a9a2618f946adb3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 24 Nov 2012 19:58:52 -0800 Subject: BulletSim: add terrain collision margin and vehicle angular damping parameters to the parameter block. New API call for setting collision margin. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index e60a760..12baee9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -287,6 +287,8 @@ public struct ConfigurationParameters public float terrainFriction; public float terrainHitFraction; public float terrainRestitution; + public float terrainCollisionMargin; + public float avatarFriction; public float avatarStandingFriction; public float avatarDensity; @@ -296,6 +298,8 @@ public struct ConfigurationParameters public float avatarCapsuleHeight; public float avatarContactProcessingThreshold; + public float vehicleAngularDamping; + public float maxPersistantManifoldPoolSize; public float maxCollisionAlgorithmPoolSize; public float shouldDisableContactPoolDynamicAllocation; @@ -482,6 +486,9 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData) public static extern bool IsNativeShape2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetShapeCollisionMargin(IntPtr shape, float margin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 5685b33071c683c41643fcb78d6f8a28d98db468 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 26 Nov 2012 10:47:34 -0800 Subject: BulletSim: increase vehicle stability by suppressing Bullet's update to angular velocity. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 12baee9..1e003e6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -357,7 +357,7 @@ public enum CollisionFlags : uint CF_CHARACTER_OBJECT = 1 << 4, CF_DISABLE_VISUALIZE_OBJECT = 1 << 5, CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, - // Following used by BulletSim to control collisions + // Following used by BulletSim to control collisions and updates BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, BS_FLOATS_ON_WATER = 1 << 11, BS_NONE = 0, -- cgit v1.1