From 04132d3af4c8f44639ea842091f86274513e2dfd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 1 Jan 2013 09:30:49 -0800 Subject: BulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanaged to have pointers and managed to have objects. Initial paste of XNA code. Commented out. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 654 +++++++--- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 1278 +++++++++++++++++++- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 37 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 27 +- .../Region/Physics/BulletSPlugin/BulletSimData.cs | 86 +- 6 files changed, 1806 insertions(+), 278 deletions(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 3975776..2c0cb43 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -38,6 +38,91 @@ namespace OpenSim.Region.Physics.BulletSPlugin public sealed class BSAPIUnman : BSAPITemplate { +private sealed class BulletWorldUnman : BulletWorld +{ + public IntPtr ptr; + public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx) + : base(id, physScene) + { + ptr = xx; + } +} + +private sealed class BulletBodyUnman : BulletBody +{ + public IntPtr ptr; + public BulletBodyUnman(uint id, IntPtr xx) + : base(id) + { + ptr = xx; + } + public override bool HasPhysicalBody + { + get { return ptr != IntPtr.Zero; } + } + public override void Clear() + { + ptr = IntPtr.Zero; + } + public override string AddrString + { + get { return ptr.ToString("X"); } + } +} + +private sealed class BulletShapeUnman : BulletShape +{ + public IntPtr ptr; + public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) + : base() + { + ptr = xx; + type = typ; + } + public override bool HasPhysicalShape + { + get { return ptr != IntPtr.Zero; } + } + public override void Clear() + { + ptr = IntPtr.Zero; + } + public override BulletShape Clone() + { + return new BulletShapeUnman(ptr, type); + } + public override bool ReferenceSame(BulletShape other) + { + BulletShapeUnman otheru = other as BulletShapeUnman; + return (otheru != null) && (this.ptr == otheru.ptr); + + } + public override string AddrString + { + get { return ptr.ToString("X"); } + } +} +private sealed class BulletConstraintUnman : BulletConstraint +{ + public BulletConstraintUnman(IntPtr xx) : base() + { + ptr = xx; + } + public IntPtr ptr; + + public override void Clear() + { + ptr = IntPtr.Zero; + } + public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } + + // Used for log messages for a unique display of the memory/object allocated to this instance + public override string AddrString + { + get { return ptr.ToString("X"); } + } +} + // We pin the memory passed between the managed and unmanaged code. GCHandle m_paramsHandle; private GCHandle m_collisionArrayPinnedHandle; @@ -89,7 +174,7 @@ public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet BulletEngineVersion = ""; // Call the unmanaged code with the buffers and other information - return new BulletWorld(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(), + return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(), maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(), m_DebugLogCallbackHandle)); @@ -111,22 +196,26 @@ private void BulletLoggerPhysLog(string msg) public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out int collidersCount) { - return BSAPICPP.PhysicsStep2(world.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount); + BulletWorldUnman worldu = world as BulletWorldUnman; + return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount); } -public override void Shutdown(BulletWorld sim) +public override void Shutdown(BulletWorld world) { - BSAPICPP.Shutdown2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.Shutdown2(worldu.ptr); } public override bool PushUpdate(BulletBody obj) { - return BSAPICPP.PushUpdate2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.PushUpdate2(bodyu.ptr); } public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { - return BSAPICPP.UpdateParameter2(world.ptr, localID, parm, value); + BulletWorldUnman worldu = world as BulletWorldUnman; + return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value); } // ===================================================================================== @@ -135,138 +224,165 @@ public override BulletShape CreateMeshShape(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices) { - return new BulletShape( - BSAPICPP.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), BSPhysicsShapeType.SHAPE_MESH); } public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls) { - return new BulletShape( - BSAPICPP.CreateHullShape2(world.ptr, hullCount, hulls), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), BSPhysicsShapeType.SHAPE_HULL); } public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { - return new BulletShape( - BSAPICPP.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr), + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = meshShape as BulletShapeUnman; + return new BulletShapeUnman( + BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr), BSPhysicsShapeType.SHAPE_HULL); } -public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData) +public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData) { - return new BulletShape( - BSAPICPP.BuildNativeShape2(world.ptr, shapeData), - shapeData.Type); + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type); } public override bool IsNativeShape(BulletShape shape) { - if (shape.HasPhysicalShape) - return BSAPICPP.IsNativeShape2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (shapeu != null && shapeu.HasPhysicalShape) + return BSAPICPP.IsNativeShape2(shapeu.ptr); return false; } public override void SetShapeCollisionMargin(BulletShape shape, float margin) { - if (shape.HasPhysicalShape) - BSAPICPP.SetShapeCollisionMargin2(shape.ptr, margin); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (shapeu != null && shapeu.HasPhysicalShape) + BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin); } public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale) { - return new BulletShape( - BSAPICPP.BuildCapsuleShape2(world.ptr, radius, height, scale), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale), BSPhysicsShapeType.SHAPE_CAPSULE); } -public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree) +public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree) { - return new BulletShape( - BSAPICPP.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND); } public override int GetNumberOfCompoundChildren(BulletShape shape) { - if (shape.HasPhysicalShape) - return BSAPICPP.GetNumberOfCompoundChildren2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (shapeu != null && shapeu.HasPhysicalShape) + return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr); return 0; } -public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot) +public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot) { - BSAPICPP.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BulletShapeUnman addShapeu = addShape as BulletShapeUnman; + BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot); } -public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) +public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) { - return new BulletShape(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); } -public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) +public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) { - return new BulletShape(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); } -public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) +public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape) { - BSAPICPP.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman; + BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr); } -public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape) +public override void RecalculateCompoundShapeLocalAabb(BulletShape shape) { - BSAPICPP.RecalculateCompoundShapeLocalAabb2(cShape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr); } -public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) +public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id) { - return new BulletShape(BSAPICPP.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman; + return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type); } public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) { - return BSAPICPP.DeleteCollisionShape2(world.ptr, shape.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr); } public override int GetBodyType(BulletBody obj) { - return BSAPICPP.GetBodyType2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetBodyType2(bodyu.ptr); } -public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) +public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) { - return new BulletBody(id, BSAPICPP.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot)); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); } public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot) { - return new BulletBody(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot)); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot)); } -public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) +public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) { - return new BulletBody(id, BSAPICPP.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot)); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); } -public override void DestroyObject(BulletWorld sim, BulletBody obj) +public override void DestroyObject(BulletWorld world, BulletBody obj) { - BSAPICPP.DestroyObject2(sim.ptr, obj.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr); } // ===================================================================================== // Terrain creation and helper routines public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin) { - return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); + return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); } public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, float scaleFactor, float collisionMargin) { - return new BulletShape(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin), + return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin), BSPhysicsShapeType.SHAPE_TERRAIN); } @@ -277,7 +393,10 @@ public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletB Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - return new BulletConstraint(BSAPICPP.Create6DofConstraint2(world.ptr, obj1.ptr, obj2.ptr, frame1loc, frame1rot, + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } @@ -285,7 +404,10 @@ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - return new BulletConstraint(BSAPICPP.Create6DofConstraintToPoint2(world.ptr, obj1.ptr, obj2.ptr, + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } @@ -294,560 +416,687 @@ public override BulletConstraint CreateHingeConstraint(BulletWorld world, Bullet Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - return new BulletConstraint(BSAPICPP.CreateHingeConstraint2(world.ptr, obj1.ptr, obj2.ptr, + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse) { - BSAPICPP.SetConstraintEnable2(constrain.ptr, numericTrueFalse); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse); } public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations) { - BSAPICPP.SetConstraintNumSolverIterations2(constrain.ptr, iterations); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations); } public override bool SetFrames(BulletConstraint constrain, Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) { - return BSAPICPP.SetFrames2(constrain.ptr, frameA, frameArot, frameB, frameBrot); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot); } public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) { - return BSAPICPP.SetLinearLimits2(constrain.ptr, low, hi); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi); } public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) { - return BSAPICPP.SetAngularLimits2(constrain.ptr, low, hi); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi); } public override bool UseFrameOffset(BulletConstraint constrain, float enable) { - return BSAPICPP.UseFrameOffset2(constrain.ptr, enable); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable); } public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce) { - return BSAPICPP.TranslationalLimitMotor2(constrain.ptr, enable, targetVel, maxMotorForce); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce); } public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold) { - return BSAPICPP.SetBreakingImpulseThreshold2(constrain.ptr, threshold); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold); } public override bool CalculateTransforms(BulletConstraint constrain) { - return BSAPICPP.CalculateTransforms2(constrain.ptr); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.CalculateTransforms2(constrainu.ptr); } public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis) { - return BSAPICPP.SetConstraintParam2(constrain.ptr, paramIndex, value, axis); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis); } public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain) { - return BSAPICPP.DestroyConstraint2(world.ptr, constrain.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr); } // ===================================================================================== // btCollisionWorld entries public override void UpdateSingleAabb(BulletWorld world, BulletBody obj) -{ - BSAPICPP.UpdateSingleAabb2(world.ptr, obj.ptr); +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr); } public override void UpdateAabbs(BulletWorld world) { - BSAPICPP.UpdateAabbs2(world.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.UpdateAabbs2(worldu.ptr); } public override bool GetForceUpdateAllAabbs(BulletWorld world) { - return BSAPICPP.GetForceUpdateAllAabbs2(world.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr); } public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { - BSAPICPP.SetForceUpdateAllAabbs2(world.ptr, force); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force); } // ===================================================================================== // btDynamicsWorld entries public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) { - return BSAPICPP.AddObjectToWorld2(world.ptr, obj.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); } public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) { - return BSAPICPP.RemoveObjectFromWorld2(world.ptr, obj.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr); } public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) { - return BSAPICPP.AddConstraintToWorld2(world.ptr, constrain.ptr, disableCollisionsBetweenLinkedObjects); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects); } public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) { - return BSAPICPP.RemoveConstraintFromWorld2(world.ptr, constrain.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr); } // ===================================================================================== // btCollisionObject entries public override Vector3 GetAnisotripicFriction(BulletConstraint constrain) { - return BSAPICPP.GetAnisotripicFriction2(constrain.ptr); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr); } public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict) { - return BSAPICPP.SetAnisotripicFriction2(constrain.ptr, frict); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict); } public override bool HasAnisotripicFriction(BulletConstraint constrain) { - return BSAPICPP.HasAnisotripicFriction2(constrain.ptr); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr); } public override void SetContactProcessingThreshold(BulletBody obj, float val) { - BSAPICPP.SetContactProcessingThreshold2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val); } public override float GetContactProcessingThreshold(BulletBody obj) { - return BSAPICPP.GetContactProcessingThreshold2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr); } public override bool IsStaticObject(BulletBody obj) { - return BSAPICPP.IsStaticObject2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsStaticObject2(bodyu.ptr); } public override bool IsKinematicObject(BulletBody obj) { - return BSAPICPP.IsKinematicObject2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsKinematicObject2(bodyu.ptr); } public override bool IsStaticOrKinematicObject(BulletBody obj) { - return BSAPICPP.IsStaticOrKinematicObject2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr); } public override bool HasContactResponse(BulletBody obj) { - return BSAPICPP.HasContactResponse2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.HasContactResponse2(bodyu.ptr); } -public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape) +public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape) { - BSAPICPP.SetCollisionShape2(sim.ptr, obj.ptr, shape.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (worldu != null && bodyu != null) + { + // Special case to allow the caller to zero out the reference to any physical shape + if (shapeu != null) + BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr); + else + BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero); + } } public override BulletShape GetCollisionShape(BulletBody obj) { - return new BulletShape(BSAPICPP.GetCollisionShape2(obj.ptr)); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN); } public override int GetActivationState(BulletBody obj) { - return BSAPICPP.GetActivationState2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetActivationState2(bodyu.ptr); } public override void SetActivationState(BulletBody obj, int state) { - BSAPICPP.SetActivationState2(obj.ptr, state); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetActivationState2(bodyu.ptr, state); } public override void SetDeactivationTime(BulletBody obj, float dtime) { - BSAPICPP.SetDeactivationTime2(obj.ptr, dtime); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime); } public override float GetDeactivationTime(BulletBody obj) { - return BSAPICPP.GetDeactivationTime2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetDeactivationTime2(bodyu.ptr); } public override void ForceActivationState(BulletBody obj, ActivationState state) { - BSAPICPP.ForceActivationState2(obj.ptr, state); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ForceActivationState2(bodyu.ptr, state); } public override void Activate(BulletBody obj, bool forceActivation) { - BSAPICPP.Activate2(obj.ptr, forceActivation); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.Activate2(bodyu.ptr, forceActivation); } public override bool IsActive(BulletBody obj) { - return BSAPICPP.IsActive2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsActive2(bodyu.ptr); } public override void SetRestitution(BulletBody obj, float val) { - BSAPICPP.SetRestitution2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetRestitution2(bodyu.ptr, val); } public override float GetRestitution(BulletBody obj) { - return BSAPICPP.GetRestitution2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetRestitution2(bodyu.ptr); } public override void SetFriction(BulletBody obj, float val) { - BSAPICPP.SetFriction2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetFriction2(bodyu.ptr, val); } public override float GetFriction(BulletBody obj) { - return BSAPICPP.GetFriction2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetFriction2(bodyu.ptr); } public override Vector3 GetPosition(BulletBody obj) { - return BSAPICPP.GetPosition2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetPosition2(bodyu.ptr); } public override Quaternion GetOrientation(BulletBody obj) { - return BSAPICPP.GetOrientation2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetOrientation2(bodyu.ptr); } public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation) { - BSAPICPP.SetTranslation2(obj.ptr, position, rotation); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation); } /* public override IntPtr GetBroadphaseHandle(BulletBody obj) { - return BSAPICPP.GetBroadphaseHandle2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr); } public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle) { - BSAPICPP.SetUserPointer2(obj.ptr, handle); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetUserPointer2(bodyu.ptr, handle); } */ public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel) { - BSAPICPP.SetInterpolationLinearVelocity2(obj.ptr, vel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel); } public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel) { - BSAPICPP.SetInterpolationAngularVelocity2(obj.ptr, vel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel); } public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel) { - BSAPICPP.SetInterpolationVelocity2(obj.ptr, linearVel, angularVel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel); } public override float GetHitFraction(BulletBody obj) { - return BSAPICPP.GetHitFraction2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetHitFraction2(bodyu.ptr); } public override void SetHitFraction(BulletBody obj, float val) { - BSAPICPP.SetHitFraction2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetHitFraction2(bodyu.ptr, val); } public override CollisionFlags GetCollisionFlags(BulletBody obj) { - return BSAPICPP.GetCollisionFlags2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetCollisionFlags2(bodyu.ptr); } public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags) { - return BSAPICPP.SetCollisionFlags2(obj.ptr, flags); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags); } public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags) { - return BSAPICPP.AddToCollisionFlags2(obj.ptr, flags); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags); } public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags) { - return BSAPICPP.RemoveFromCollisionFlags2(obj.ptr, flags); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags); } public override float GetCcdMotionThreshold(BulletBody obj) { - return BSAPICPP.GetCcdMotionThreshold2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr); } public override void SetCcdMotionThreshold(BulletBody obj, float val) { - BSAPICPP.SetCcdMotionThreshold2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val); } public override float GetCcdSweptSphereRadius(BulletBody obj) { - return BSAPICPP.GetCcdSweptSphereRadius2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr); } public override void SetCcdSweptSphereRadius(BulletBody obj, float val) { - BSAPICPP.SetCcdSweptSphereRadius2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val); } public override IntPtr GetUserPointer(BulletBody obj) { - return BSAPICPP.GetUserPointer2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetUserPointer2(bodyu.ptr); } public override void SetUserPointer(BulletBody obj, IntPtr val) { - BSAPICPP.SetUserPointer2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetUserPointer2(bodyu.ptr, val); } // ===================================================================================== // btRigidBody entries public override void ApplyGravity(BulletBody obj) { - BSAPICPP.ApplyGravity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyGravity2(bodyu.ptr); } public override void SetGravity(BulletBody obj, Vector3 val) { - BSAPICPP.SetGravity2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetGravity2(bodyu.ptr, val); } public override Vector3 GetGravity(BulletBody obj) { - return BSAPICPP.GetGravity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetGravity2(bodyu.ptr); } public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping) { - BSAPICPP.SetDamping2(obj.ptr, lin_damping, ang_damping); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping); } public override void SetLinearDamping(BulletBody obj, float lin_damping) { - BSAPICPP.SetLinearDamping2(obj.ptr, lin_damping); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping); } public override void SetAngularDamping(BulletBody obj, float ang_damping) { - BSAPICPP.SetAngularDamping2(obj.ptr, ang_damping); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping); } public override float GetLinearDamping(BulletBody obj) { - return BSAPICPP.GetLinearDamping2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearDamping2(bodyu.ptr); } public override float GetAngularDamping(BulletBody obj) { - return BSAPICPP.GetAngularDamping2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetAngularDamping2(bodyu.ptr); } public override float GetLinearSleepingThreshold(BulletBody obj) { - return BSAPICPP.GetLinearSleepingThreshold2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr); } public override void ApplyDamping(BulletBody obj, float timeStep) { - BSAPICPP.ApplyDamping2(obj.ptr, timeStep); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep); } public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia) { - BSAPICPP.SetMassProps2(obj.ptr, mass, inertia); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia); } public override Vector3 GetLinearFactor(BulletBody obj) { - return BSAPICPP.GetLinearFactor2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearFactor2(bodyu.ptr); } public override void SetLinearFactor(BulletBody obj, Vector3 factor) { - BSAPICPP.SetLinearFactor2(obj.ptr, factor); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetLinearFactor2(bodyu.ptr, factor); } public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { - BSAPICPP.SetCenterOfMassByPosRot2(obj.ptr, pos, rot); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot); } // Add a force to the object as if its mass is one. public override void ApplyCentralForce(BulletBody obj, Vector3 force) { - BSAPICPP.ApplyCentralForce2(obj.ptr, force); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyCentralForce2(bodyu.ptr, force); } // Set the force being applied to the object as if its mass is one. public override void SetObjectForce(BulletBody obj, Vector3 force) { - BSAPICPP.SetObjectForce2(obj.ptr, force); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetObjectForce2(bodyu.ptr, force); } public override Vector3 GetTotalForce(BulletBody obj) { - return BSAPICPP.GetTotalForce2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetTotalForce2(bodyu.ptr); } public override Vector3 GetTotalTorque(BulletBody obj) { - return BSAPICPP.GetTotalTorque2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetTotalTorque2(bodyu.ptr); } public override Vector3 GetInvInertiaDiagLocal(BulletBody obj) { - return BSAPICPP.GetInvInertiaDiagLocal2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr); } public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert) { - BSAPICPP.SetInvInertiaDiagLocal2(obj.ptr, inert); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert); } public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold) { - BSAPICPP.SetSleepingThresholds2(obj.ptr, lin_threshold, ang_threshold); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold); } public override void ApplyTorque(BulletBody obj, Vector3 torque) { - BSAPICPP.ApplyTorque2(obj.ptr, torque); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyTorque2(bodyu.ptr, torque); } // Apply force at the given point. Will add torque to the object. public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos) { - BSAPICPP.ApplyForce2(obj.ptr, force, pos); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyForce2(bodyu.ptr, force, pos); } // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp) { - BSAPICPP.ApplyCentralImpulse2(obj.ptr, imp); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp); } // Apply impulse to the object's torque. Force is scaled by object's mass. public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp) { - BSAPICPP.ApplyTorqueImpulse2(obj.ptr, imp); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp); } // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos) { - BSAPICPP.ApplyImpulse2(obj.ptr, imp, pos); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos); } public override void ClearForces(BulletBody obj) { - BSAPICPP.ClearForces2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ClearForces2(bodyu.ptr); } public override void ClearAllForces(BulletBody obj) { - BSAPICPP.ClearAllForces2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ClearAllForces2(bodyu.ptr); } public override void UpdateInertiaTensor(BulletBody obj) { - BSAPICPP.UpdateInertiaTensor2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.UpdateInertiaTensor2(bodyu.ptr); } public override Vector3 GetLinearVelocity(BulletBody obj) { - return BSAPICPP.GetLinearVelocity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearVelocity2(bodyu.ptr); } public override Vector3 GetAngularVelocity(BulletBody obj) { - return BSAPICPP.GetAngularVelocity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetAngularVelocity2(bodyu.ptr); } public override void SetLinearVelocity(BulletBody obj, Vector3 vel) { - BSAPICPP.SetLinearVelocity2(obj.ptr, vel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel); } public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity) { - BSAPICPP.SetAngularVelocity2(obj.ptr, angularVelocity); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity); } public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos) { - return BSAPICPP.GetVelocityInLocalPoint2(obj.ptr, pos); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos); } public override void Translate(BulletBody obj, Vector3 trans) { - BSAPICPP.Translate2(obj.ptr, trans); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.Translate2(bodyu.ptr, trans); } public override void UpdateDeactivation(BulletBody obj, float timeStep) { - BSAPICPP.UpdateDeactivation2(obj.ptr, timeStep); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep); } public override bool WantsSleeping(BulletBody obj) { - return BSAPICPP.WantsSleeping2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.WantsSleeping2(bodyu.ptr); } public override void SetAngularFactor(BulletBody obj, float factor) { - BSAPICPP.SetAngularFactor2(obj.ptr, factor); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularFactor2(bodyu.ptr, factor); } public override void SetAngularFactorV(BulletBody obj, Vector3 factor) { - BSAPICPP.SetAngularFactorV2(obj.ptr, factor); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor); } public override Vector3 GetAngularFactor(BulletBody obj) { - return BSAPICPP.GetAngularFactor2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetAngularFactor2(bodyu.ptr); } public override bool IsInWorld(BulletBody obj) { - return BSAPICPP.IsInWorld2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsInWorld2(bodyu.ptr); } public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain) { - BSAPICPP.AddConstraintRef2(obj.ptr, constrain.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr); } public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain) { - BSAPICPP.RemoveConstraintRef2(obj.ptr, constrain.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr); } public override BulletConstraint GetConstraintRef(BulletBody obj, int index) { - return new BulletConstraint(BSAPICPP.GetConstraintRef2(obj.ptr, index)); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index)); } public override int GetNumConstraintRefs(BulletBody obj) { - return BSAPICPP.GetNumConstraintRefs2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr); } public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask) { - return BSAPICPP.SetCollisionGroupMask2(body.ptr, filter, mask); + BulletBodyUnman bodyu = body as BulletBodyUnman; + return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask); } // ===================================================================================== @@ -855,114 +1104,139 @@ public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint ma public override float GetAngularMotionDisc(BulletShape shape) { - return BSAPICPP.GetAngularMotionDisc2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr); } public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor) { - return BSAPICPP.GetContactBreakingThreshold2(shape.ptr, defaultFactor); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor); } public override bool IsPolyhedral(BulletShape shape) { - return BSAPICPP.IsPolyhedral2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsPolyhedral2(shapeu.ptr); } public override bool IsConvex2d(BulletShape shape) { - return BSAPICPP.IsConvex2d2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsConvex2d2(shapeu.ptr); } public override bool IsConvex(BulletShape shape) { - return BSAPICPP.IsConvex2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsConvex2(shapeu.ptr); } public override bool IsNonMoving(BulletShape shape) { - return BSAPICPP.IsNonMoving2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsNonMoving2(shapeu.ptr); } public override bool IsConcave(BulletShape shape) { - return BSAPICPP.IsConcave2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsConcave2(shapeu.ptr); } public override bool IsCompound(BulletShape shape) { - return BSAPICPP.IsCompound2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsCompound2(shapeu.ptr); } public override bool IsSoftBody(BulletShape shape) { - return BSAPICPP.IsSoftBody2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsSoftBody2(shapeu.ptr); } public override bool IsInfinite(BulletShape shape) { - return BSAPICPP.IsInfinite2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsInfinite2(shapeu.ptr); } public override void SetLocalScaling(BulletShape shape, Vector3 scale) { - BSAPICPP.SetLocalScaling2(shape.ptr, scale); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BSAPICPP.SetLocalScaling2(shapeu.ptr, scale); } public override Vector3 GetLocalScaling(BulletShape shape) { - return BSAPICPP.GetLocalScaling2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetLocalScaling2(shapeu.ptr); } public override Vector3 CalculateLocalInertia(BulletShape shape, float mass) { - return BSAPICPP.CalculateLocalInertia2(shape.ptr, mass); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass); } public override int GetShapeType(BulletShape shape) { - return BSAPICPP.GetShapeType2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetShapeType2(shapeu.ptr); } public override void SetMargin(BulletShape shape, float val) { - BSAPICPP.SetMargin2(shape.ptr, val); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BSAPICPP.SetMargin2(shapeu.ptr, val); } public override float GetMargin(BulletShape shape) { - return BSAPICPP.GetMargin2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetMargin2(shapeu.ptr); } // ===================================================================================== // Debugging -public override void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) +public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject) { - BSAPICPP.DumpRigidBody2(sim.ptr, collisionObject.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = collisionObject as BulletBodyUnman; + BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr); } -public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape) +public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape) { - BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = collisionShape as BulletShapeUnman; + BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr); } -public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain) +public override void DumpConstraint(BulletWorld world, BulletConstraint constrain) { - BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr); } -public override void DumpActivationInfo(BulletWorld sim) +public override void DumpActivationInfo(BulletWorld world) { - BSAPICPP.DumpActivationInfo2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.DumpActivationInfo2(worldu.ptr); } -public override void DumpAllInfo(BulletWorld sim) +public override void DumpAllInfo(BulletWorld world) { - BSAPICPP.DumpAllInfo2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.DumpAllInfo2(worldu.ptr); } -public override void DumpPhysicsStatistics(BulletWorld sim) +public override void DumpPhysicsStatistics(BulletWorld world) { - BSAPICPP.DumpPhysicsStatistics2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.DumpPhysicsStatistics2(worldu.ptr); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 8ed791e..f70ad30 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -29,11 +29,1287 @@ using System.Collections.Generic; using System.Linq; using System.Text; +using BulletXNA; +using BulletXNA.LinearMath; +using BulletXNA.BulletCollision; +using BulletXNA.BulletDynamics; +using BulletXNA.BulletCollision.CollisionDispatch; + +using OpenMetaverse; + namespace OpenSim.Region.Physics.BulletSPlugin { /* public sealed class BSAPIXNA : BSAPITemplate { + private static int m_collisionsThisFrame; + private BSScene PhysicsScene { get; set; } + + public override string BulletEngineName { get { return "BulletXNA"; } } + public override string BulletEngineVersion { get; protected set; } + + public BSAPIXNA(string paramName, BSScene physScene) + { + PhysicsScene = physScene; + } + + /// + /// + /// + /// + /// + public override bool RemoveObjectFromWorld2(object pWorld, object pBody) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + RigidBody body = pBody as RigidBody; + world.RemoveRigidBody(body); + return true; + } + + public override void SetRestitution2(object pBody, float pRestitution) + { + RigidBody body = pBody as RigidBody; + body.SetRestitution(pRestitution); + } + + public override void SetMargin2(object pShape, float pMargin) + { + CollisionShape shape = pShape as CollisionShape; + shape.SetMargin(pMargin); + } + + public override void SetLocalScaling2(object pShape, Vector3 pScale) + { + CollisionShape shape = pShape as CollisionShape; + IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); + shape.SetLocalScaling(ref vec); + + } + + public override void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold) + { + RigidBody body = pBody as RigidBody; + body.SetContactProcessingThreshold(contactprocessingthreshold); + } + + public override void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold) + { + RigidBody body = pBody as RigidBody; + body.SetCcdMotionThreshold(pccdMotionThreashold); + } + + public override void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius) + { + RigidBody body = pBody as RigidBody; + body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); + } + + public override void SetAngularFactorV2(object pBody, Vector3 pAngularFactor) + { + RigidBody body = pBody as RigidBody; + body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); + } + + public override CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) + { + CollisionObject body = pBody as CollisionObject; + CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); + existingcollisionFlags |= pcollisionFlags; + body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); + return (CollisionFlags) (uint) existingcollisionFlags; + } + + public override void AddObjectToWorld2(object pWorld, object pBody) + { + RigidBody body = pBody as RigidBody; + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) + + world.AddRigidBody(body); + + //if (body.GetBroadphaseHandle() != null) + // world.UpdateSingleAabb(body); + } + + public override void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation) + { + RigidBody body = pBody as RigidBody; + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) + + world.AddRigidBody(body); + IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); + IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, + _orientation.W); + IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); + mat._origin = vposition; + body.SetWorldTransform(mat); + //if (body.GetBroadphaseHandle() != null) + // world.UpdateSingleAabb(body); + } + + public override void ForceActivationState2(object pBody, ActivationState pActivationState) + { + CollisionObject body = pBody as CollisionObject; + body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); + } + + public override void UpdateSingleAabb2(object pWorld, object pBody) + { + CollisionObject body = pBody as CollisionObject; + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + world.UpdateSingleAabb(body); + } + + public override bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask) + { + RigidBody body = pBody as RigidBody; + body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; + body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; + if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0) + return false; + return true; + } + + public override void ClearAllForces2(object pBody) + { + CollisionObject body = pBody as CollisionObject; + IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); + body.SetInterpolationLinearVelocity(ref zeroVector); + body.SetInterpolationAngularVelocity(ref zeroVector); + IndexedMatrix bodytransform = body.GetWorldTransform(); + + body.SetInterpolationWorldTransform(ref bodytransform); + + if (body is RigidBody) + { + RigidBody rigidbody = body as RigidBody; + rigidbody.SetLinearVelocity(zeroVector); + rigidbody.SetAngularVelocity(zeroVector); + rigidbody.ClearForces(); + } + } + + public override void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); + body.SetInterpolationAngularVelocity(ref vec); + } + + public override void SetAngularVelocity2(object pBody, Vector3 pVector3) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); + body.SetAngularVelocity(ref vec); + } + + public override void ClearForces2(object pBody) + { + RigidBody body = pBody as RigidBody; + body.ClearForces(); + } + + public override void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); + IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, + _orientation.W); + IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); + mat._origin = vposition; + body.SetWorldTransform(mat); + + } + + public override Vector3 GetPosition2(object pBody) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; + return new Vector3(pos.X, pos.Y, pos.Z); + } + + public override Vector3 CalculateLocalInertia2(object pShape, float pphysMass) + { + CollisionShape shape = pShape as CollisionShape; + IndexedVector3 inertia = IndexedVector3.Zero; + shape.CalculateLocalInertia(pphysMass, out inertia); + return new Vector3(inertia.X, inertia.Y, inertia.Z); + } + + public override void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); + body.SetMassProps(pphysMass, inertia); + } + + + public override void SetObjectForce2(object pBody, Vector3 _force) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); + body.SetTotalForce(ref force); + } + + public override void SetFriction2(object pBody, float _currentFriction) + { + RigidBody body = pBody as RigidBody; + body.SetFriction(_currentFriction); + } + + public override void SetLinearVelocity2(object pBody, Vector3 _velocity) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); + body.SetLinearVelocity(velocity); + } + + public override void Activate2(object pBody, bool pforceactivation) + { + RigidBody body = pBody as RigidBody; + body.Activate(pforceactivation); + + } + + public override Quaternion GetOrientation2(object pBody) + { + RigidBody body = pBody as RigidBody; + IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); + return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); + } + + public override CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) + { + RigidBody body = pBody as RigidBody; + CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); + existingcollisionFlags &= ~pcollisionFlags; + body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); + return (CollisionFlags)(uint)existingcollisionFlags; + } + + public override void SetGravity2(object pBody, Vector3 pGravity) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); + body.SetGravity(gravity); + } + + public override bool DestroyConstraint2(object pBody, object pConstraint) + { + RigidBody body = pBody as RigidBody; + TypedConstraint constraint = pConstraint as TypedConstraint; + body.RemoveConstraintRef(constraint); + return true; + } + + public override bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); + IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); + constraint.SetLinearLowerLimit(lowlimit); + constraint.SetLinearUpperLimit(highlimit); + return true; + } + + public override bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); + IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); + constraint.SetAngularLowerLimit(lowlimit); + constraint.SetAngularUpperLimit(highlimit); + return true; + } + + public override void SetConstraintNumSolverIterations2(object pConstraint, float cnt) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + constraint.SetOverrideNumSolverIterations((int)cnt); + } + + public override void CalculateTransforms2(object pConstraint) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + constraint.CalculateTransforms(); + } + + public override void SetConstraintEnable2(object pConstraint, float p_2) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + constraint.SetEnabled((p_2 == 0) ? false : true); + } + + + //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + public override object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + RigidBody body1 = pBody1 as RigidBody; + RigidBody body2 = pBody2 as RigidBody; + IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); + IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); + IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); + frame1._origin = frame1v; + + IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); + IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); + IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); + frame2._origin = frame1v; + + Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, + puseLinearReferenceFrameA); + consttr.CalculateTransforms(); + world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); + + return consttr; + } + + + /// + /// + /// + /// + /// + /// + /// + /// + /// + /// + public override object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + RigidBody body1 = pBody1 as RigidBody; + RigidBody body2 = pBody2 as RigidBody; + IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); + IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); + + IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); + IndexedMatrix mat = IndexedMatrix.Identity; + mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); + frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint; + frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint; + + Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); + consttr.CalculateTransforms(); + world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies); + + return consttr; + } + //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); + public override void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); + IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); + IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); + frame1._origin = frame1v; + + IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); + IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); + IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); + frame2._origin = frame1v; + constraint.SetFrames(ref frame1, ref frame2); + } + + + + + public override bool IsInWorld2(object pWorld, object pShapeObj) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + CollisionObject shape = pShapeObj as CollisionObject; + return world.IsInWorld(shape); + } + + public override void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); + body.SetInterpolationLinearVelocity(ref velocity); + } + + public override bool UseFrameOffset2(object pConstraint, float onOff) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + constraint.SetUseFrameOffset((onOff == 0) ? false : true); + return true; + } + //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); + public override bool SetBreakingImpulseThreshold2(object pConstraint, float threshold) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + constraint.SetBreakingImpulseThreshold(threshold); + return true; + } + //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); + public override void SetAngularDamping2(object pBody, float angularDamping) + { + RigidBody body = pBody as RigidBody; + float lineardamping = body.GetLinearDamping(); + body.SetDamping(lineardamping, angularDamping); + + } + + public override void UpdateInertiaTensor2(object pBody) + { + RigidBody body = pBody as RigidBody; + body.UpdateInertiaTensor(); + } + + public override void RecalculateCompoundShapeLocalAabb2( object pCompoundShape) + { + + CompoundShape shape = pCompoundShape as CompoundShape; + shape.RecalculateLocalAabb(); + } + + //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr) + public override CollisionFlags GetCollisionFlags2(object pBody) + { + RigidBody body = pBody as RigidBody; + uint flags = (uint)body.GetCollisionFlags(); + return (CollisionFlags) flags; + } + + public override void SetDamping2(object pBody, float pLinear, float pAngular) + { + RigidBody body = pBody as RigidBody; + body.SetDamping(pLinear, pAngular); + } + //PhysBody.ptr, PhysicsScene.Params.deactivationTime); + public override void SetDeactivationTime2(object pBody, float pDeactivationTime) + { + RigidBody body = pBody as RigidBody; + body.SetDeactivationTime(pDeactivationTime); + } + //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); + public override void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) + { + RigidBody body = pBody as RigidBody; + body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); + } + + public override CollisionObjectTypes GetBodyType2(object pBody) + { + RigidBody body = pBody as RigidBody; + return (CollisionObjectTypes)(int) body.GetInternalType(); + } + + //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); + public override void ApplyCentralForce2(object pBody, Vector3 pfSum) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); + body.ApplyCentralForce(ref fSum); + } + public override void ApplyCentralImpulse2(object pBody, Vector3 pfSum) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); + body.ApplyCentralImpulse(ref fSum); + } + public override void ApplyTorque2(object pBody, Vector3 pfSum) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); + body.ApplyTorque(ref fSum); + } + public override void ApplyTorqueImpulse2(object pBody, Vector3 pfSum) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); + body.ApplyTorqueImpulse(ref fSum); + } + + public override void DumpRigidBody2(object p, object p_2) + { + //TODO: + } + + public override void DumpCollisionShape2(object p, object p_2) + { + //TODO: + } + + public override void DestroyObject2(object p, object p_2) + { + //TODO: + } + + public override void Shutdown2(object pWorld) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + world.Cleanup(); + } + + public override void DeleteCollisionShape2(object p, object p_2) + { + //TODO: + } + //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); + + public override object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) + { + CollisionWorld world = pWorld as CollisionWorld; + IndexedMatrix mat = + IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, + pRawOrientation.Z, pRawOrientation.W)); + mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); + CollisionShape shape = pShape as CollisionShape; + //UpdateSingleAabb2(world, shape); + // TODO: Feed Update array into null + RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero); + + body.SetUserPointer(pLocalID); + return body; + } + + + public override object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) + { + + IndexedMatrix mat = + IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, + pRawOrientation.Z, pRawOrientation.W)); + mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); + + CollisionShape shape = pShape as CollisionShape; + + // TODO: Feed Update array into null + RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); + body.SetWorldTransform(mat); + body.SetUserPointer(pLocalID); + return body; + } + //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + public override void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags) + { + RigidBody body = pBody as RigidBody; + body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); + } + //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + public override void SetHitFraction2(object pBody, float pHitFraction) + { + RigidBody body = pBody as RigidBody; + body.SetHitFraction(pHitFraction); + } + //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); + public override object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); + CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); + capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); + capsuleShapeZ.SetLocalScaling(ref scale); + + return capsuleShapeZ; + } + + public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List collisionArray, int mMaxUpdatesPerFrame, ref List updateArray, object mDebugLogCallbackHandle) + { + CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); + + p.angularDamping = o[0].XangularDamping; + p.defaultFriction = o[0].defaultFriction; + p.defaultFriction = o[0].defaultFriction; + p.defaultDensity = o[0].defaultDensity; + p.defaultRestitution = o[0].defaultRestitution; + p.collisionMargin = o[0].collisionMargin; + p.gravity = o[0].gravity; + + p.linearDamping = o[0].XlinearDamping; + p.angularDamping = o[0].XangularDamping; + p.deactivationTime = o[0].XdeactivationTime; + p.linearSleepingThreshold = o[0].XlinearSleepingThreshold; + p.angularSleepingThreshold = o[0].XangularSleepingThreshold; + p.ccdMotionThreshold = o[0].XccdMotionThreshold; + p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius; + p.contactProcessingThreshold = o[0].XcontactProcessingThreshold; + + p.terrainImplementation = o[0].XterrainImplementation; + p.terrainFriction = o[0].XterrainFriction; + + p.terrainHitFraction = o[0].XterrainHitFraction; + p.terrainRestitution = o[0].XterrainRestitution; + p.terrainCollisionMargin = o[0].XterrainCollisionMargin; + + p.avatarFriction = o[0].XavatarFriction; + p.avatarStandingFriction = o[0].XavatarStandingFriction; + p.avatarDensity = o[0].XavatarDensity; + p.avatarRestitution = o[0].XavatarRestitution; + p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth; + p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth; + p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight; + p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold; + + p.vehicleAngularDamping = o[0].XvehicleAngularDamping; + + p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; + p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; + p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; + p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs; + p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder; + p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands; + p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; + p.numberOfSolverIterations = o[0].numberOfSolverIterations; + + p.linksetImplementation = o[0].XlinksetImplementation; + p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset; + p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor; + p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel; + p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce; + p.linkConstraintERP = o[0].XlinkConstraintERP; + p.linkConstraintCFM = o[0].XlinkConstraintCFM; + p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations; + p.physicsLoggingFrames = o[0].physicsLoggingFrames; + DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); + + DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); + CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); + + + if (p.maxPersistantManifoldPoolSize > 0) + cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize; + if (p.shouldDisableContactPoolDynamicAllocation !=0) + m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); + //if (p.maxCollisionAlgorithmPoolSize >0 ) + + DbvtBroadphase m_broadphase = new DbvtBroadphase(); + //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0); + //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256); + + //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true); + m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); + + SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); + + DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); + world.UpdatedObjects = updateArray; + world.UpdatedCollisions = collisionArray; + world.WorldSettings.Params = p; + world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); + world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; + if (p.shouldRandomizeSolverOrder != 0) + world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER; + + world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0); + //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port + + if (p.shouldEnableFrictionCaching != 0) + world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; + + if (p.numberOfSolverIterations > 0) + world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations; + + + world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping; + world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution; + world.GetSolverInfo().m_globalCfm = 0.0f; + world.GetSolverInfo().m_tau = 0.6f; + world.GetSolverInfo().m_friction = 0.3f; + world.GetSolverInfo().m_maxErrorReduction = 20f; + world.GetSolverInfo().m_numIterations = 10; + world.GetSolverInfo().m_erp = 0.2f; + world.GetSolverInfo().m_erp2 = 0.1f; + world.GetSolverInfo().m_sor = 1.0f; + world.GetSolverInfo().m_splitImpulse = false; + world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f; + world.GetSolverInfo().m_linearSlop = 0.0f; + world.GetSolverInfo().m_warmstartingFactor = 0.85f; + world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; + world.SetForceUpdateAllAabbs(true); + + + world.SetGravity(new IndexedVector3(0,0,p.gravity)); + + return world; + } + //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL + public override bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) + { + Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; + if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) + { + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1); + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2); + } + if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) + { + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3); + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4); + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5); + } + if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL) + { + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis); + } + return true; + } + + public override bool PushUpdate2(object pCollisionObject) + { + bool ret = false; + RigidBody rb = pCollisionObject as RigidBody; + if (rb != null) + { + SimMotionState sms = rb.GetMotionState() as SimMotionState; + if (sms != null) + { + IndexedMatrix wt = IndexedMatrix.Identity; + sms.GetWorldTransform(out wt); + sms.SetWorldTransform(ref wt, true); + ret = true; + } + } + return ret; + + } + + public override bool IsCompound2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsCompound(); + } + public override bool IsPloyhedral2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsPolyhedral(); + } + public override bool IsConvex2d2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsConvex2d(); + } + public override bool IsConvex2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsConvex(); + } + public override bool IsNonMoving2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsNonMoving(); + } + public override bool IsConcave2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsConcave(); + } + public override bool IsInfinite2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsInfinite(); + } + public override bool IsNativeShape2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + bool ret; + switch (shape.GetShapeType()) + { + case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: + case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: + case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: + case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: + ret = true; + break; + default: + ret = false; + break; + } + return ret; + } + //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation + public override object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) + { + IndexedMatrix bodyTransform = new IndexedMatrix(); + bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); + bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); + GhostObject gObj = new PairCachingGhostObject(); + gObj.SetWorldTransform(bodyTransform); + CollisionShape shape = pShape as CollisionShape; + gObj.SetCollisionShape(shape); + gObj.SetUserPointer(pLocalID); + // TODO: Add to Special CollisionObjects! + return gObj; + } + + public static void SetCollisionShape2(object pWorld, object pObj, object pShape) + { + var world = pWorld as DiscreteDynamicsWorld; + var obj = pObj as CollisionObject; + var shape = pShape as CollisionShape; + obj.SetCollisionShape(shape); + + } + //(PhysicsScene.World.ptr, nativeShapeData) + public override object BuildNativeShape2(object pWorld, ShapeData pShapeData) + { + var world = pWorld as DiscreteDynamicsWorld; + CollisionShape shape = null; + switch (pShapeData.Type) + { + case BSPhysicsShapeType.SHAPE_BOX: + shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f)); + break; + case BSPhysicsShapeType.SHAPE_CONE: + shape = new ConeShapeZ(0.5f, 1.0f); + break; + case BSPhysicsShapeType.SHAPE_CYLINDER: + shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f)); + break; + case BSPhysicsShapeType.SHAPE_SPHERE: + shape = new SphereShape(0.5f); + break; + + } + if (shape != null) + { + IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z); + shape.SetMargin(world.WorldSettings.Params.collisionMargin); + shape.SetLocalScaling(ref scaling); + + } + return shape; + } + //PhysicsScene.World.ptr, false + public override object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree) + { + return new CompoundShape(enableDynamicAabbTree); + } + + public override int GetNumberOfCompoundChildren2(object pCompoundShape) + { + var compoundshape = pCompoundShape as CompoundShape; + return compoundshape.GetNumChildShapes(); + } + //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot + public override void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot) + { + IndexedMatrix relativeTransform = new IndexedMatrix(); + var compoundshape = pCShape as CompoundShape; + var addshape = paddShape as CollisionShape; + + relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); + relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); + compoundshape.AddChildShape(ref relativeTransform, addshape); + + } + + public override object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii) + { + var compoundshape = pCShape as CompoundShape; + CollisionShape ret = null; + ret = compoundshape.GetChildShape(pii); + compoundshape.RemoveChildShapeByIndex(pii); + return ret; + } + + public override object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin) + { + StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); + m_planeshape.SetMargin(pcollisionMargin); + m_planeshape.SetUserPointer(pLocalId); + return m_planeshape; + } + + public override object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + { + HingeConstraint constrain = null; + var rb1 = pBody1 as RigidBody; + var rb2 = ppBody2 as RigidBody; + if (rb1 != null && rb2 != null) + { + IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); + IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); + IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); + IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); + var world = pWorld as DiscreteDynamicsWorld; + world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); + } + return constrain; + } + + public override bool ReleaseHeightMapInfo2(object pMapInfo) + { + if (pMapInfo != null) + { + BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; + if (mapinfo.heightMap != null) + mapinfo.heightMap = null; + + + } + return true; + } + + public override object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls) + { + CompoundShape compoundshape = new CompoundShape(false); + var world = pWorld as DiscreteDynamicsWorld; + + + compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); + int ii = 1; + + for (int i = 0; i < pHullCount; i++) + { + int vertexCount = (int) pConvHulls[ii]; + + IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); + IndexedMatrix childTrans = IndexedMatrix.Identity; + childTrans._origin = centroid; + + List virts = new List(); + int ender = ((ii + 4) + (vertexCount*3)); + for (int iii = ii + 4; iii < ender; iii+=3) + { + + virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); + } + ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); + convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); + compoundshape.AddChildShape(ref childTrans, convexShape); + ii += (vertexCount*3 + 4); + } + + + return compoundshape; + } + + public override object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) + { + //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); + + for (int iter = 0; iter < pVerticesCount; iter++) + { + if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; + if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; + } + + ObjectArray indicesarr = new ObjectArray(indices); + ObjectArray vertices = new ObjectArray(verticesAsFloats); + DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); + var world = pWorld as DiscreteDynamicsWorld; + IndexedMesh mesh = new IndexedMesh(); + mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; + mesh.m_numTriangles = pIndicesCount/3; + mesh.m_numVertices = pVerticesCount; + mesh.m_triangleIndexBase = indicesarr; + mesh.m_vertexBase = vertices; + mesh.m_vertexStride = 3; + mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; + mesh.m_triangleIndexStride = 3; + + TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); + tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); + BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); + meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); + // world.UpdateSingleAabb(meshShape); + return meshShape; + + } + public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount ) + { + + String fileName = "objTest3.raw"; + String completePath = System.IO.Path.Combine(Util.configDir(), fileName); + StreamWriter sw = new StreamWriter(completePath); + IndexedMesh mesh = new IndexedMesh(); + + mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; + mesh.m_numTriangles = pIndicesCount / 3; + mesh.m_numVertices = pVerticesCount; + mesh.m_triangleIndexBase = indices; + mesh.m_vertexBase = vertices; + mesh.m_vertexStride = 3; + mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; + mesh.m_triangleIndexStride = 3; + + TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); + tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); + + + + for (int i = 0; i < pVerticesCount; i++) + { + + string s = vertices[indices[i * 3]].ToString("0.0000"); + s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); + s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); + + sw.Write(s + "\n"); + } + + sw.Close(); + } + public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount) + { + + String fileName = "objTest6.raw"; + String completePath = System.IO.Path.Combine(Util.configDir(), fileName); + StreamWriter sw = new StreamWriter(completePath); + IndexedMesh mesh = new IndexedMesh(); + + mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; + mesh.m_numTriangles = pIndicesCount / 3; + mesh.m_numVertices = pVerticesCount; + mesh.m_triangleIndexBase = indices; + mesh.m_vertexBase = vertices; + mesh.m_vertexStride = 3; + mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; + mesh.m_triangleIndexStride = 3; + + TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); + tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); + + + sw.WriteLine("Indices"); + sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount)); + for (int iter = 0; iter < indices.Length; iter++) + { + sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter])); + } + sw.WriteLine("VerticesFloats"); + sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount)); + for (int iter = 0; iter < vertices.Length; iter++) + { + sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000"))); + } + + // for (int i = 0; i < pVerticesCount; i++) + // { + // + // string s = vertices[indices[i * 3]].ToString("0.0000"); + // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); + // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); + // + // sw.Write(s + "\n"); + //} + + sw.Close(); + } + //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin + public override object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin) + { + BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null); + mapInfo.heightMap = null; + mapInfo.minCoords = pminCoords; + mapInfo.maxCoords = pmaxCoords; + mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X); + mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y); + mapInfo.ID = pId; + mapInfo.minZ = pminCoords.Z; + mapInfo.maxZ = pmaxCoords.Z; + mapInfo.collisionMargin = pCollisionMargin; + if (mapInfo.minZ == mapInfo.maxZ) + mapInfo.minZ -= 0.2f; + mapInfo.heightMap = pheightMap; + + return mapInfo; + + } + + public override object CreateTerrainShape2(object pMapInfo) + { + BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; + const int upAxis = 2; + const float scaleFactor = 1.0f; + HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY, + mapinfo.heightMap, scaleFactor, + mapinfo.minZ, mapinfo.maxZ, upAxis, + false); + terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f); + terrainShape.SetUseDiamondSubdivision(true); + terrainShape.SetUserPointer(mapinfo.ID); + return terrainShape; + } + + public override bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce) + { + TypedConstraint tconstrain = pConstraint as TypedConstraint; + bool onOff = ponOff != 0; + bool ret = false; + + switch (tconstrain.GetConstraintType()) + { + case TypedConstraintType.D6_CONSTRAINT_TYPE: + Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; + constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff; + constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity; + constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce; + ret = true; + break; + } + + + return ret; + + } + + public override int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out Listcolliders) + { + int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, + out collidersCount, out colliders); + return epic; + } + + private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out List colliders) + { + int numSimSteps = 0; + + + //if (updatedEntities is null) + // updatedEntities = new List(); + + //if (colliders is null) + // colliders = new List(); + + + if (pWorld is DiscreteDynamicsWorld) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + + numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); + int updates = 0; + + updatedEntityCount = world.UpdatedObjects.Count; + updatedEntities = new List(world.UpdatedObjects); + updatedEntityCount = updatedEntities.Count; + world.UpdatedObjects.Clear(); + + + collidersCount = world.UpdatedCollisions.Count; + colliders = new List(world.UpdatedCollisions); + + world.UpdatedCollisions.Clear(); + m_collisionsThisFrame = 0; + int numManifolds = world.GetDispatcher().GetNumManifolds(); + for (int j = 0; j < numManifolds; j++) + { + PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); + int numContacts = contactManifold.GetNumContacts(); + if (numContacts == 0) + continue; + + CollisionObject objA = contactManifold.GetBody0() as CollisionObject; + CollisionObject objB = contactManifold.GetBody1() as CollisionObject; + + ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0); + IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); + IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A + + RecordCollision(world, objA, objB, contactPoint, contactNormal); + m_collisionsThisFrame ++; + if (m_collisionsThisFrame >= 9999999) + break; + + + } + + + } + else + { + //if (updatedEntities is null) + updatedEntities = new List(); + updatedEntityCount = 0; + //if (colliders is null) + colliders = new List(); + collidersCount = 0; + } + return numSimSteps; + } + + private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) + { + + IndexedVector3 contactNormal = norm; + if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && + (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) + { + return; + } + uint idA = (uint)objA.GetUserPointer(); + uint idB = (uint)objB.GetUserPointer(); + if (idA > idB) + { + uint temp = idA; + idA = idB; + idB = temp; + contactNormal = -contactNormal; + } + + ulong collisionID = ((ulong) idA << 32) | idB; + + BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc() + { + aID = idA, + bID = idB, + point = contact, + normal = contactNormal + }; + world.UpdatedCollisions.Add(cDesc); + m_collisionsThisFrame++; + + + } + private static EntityProperties GetDebugProperties(object pWorld, object pBody) + { + EntityProperties ent = new EntityProperties(); + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + RigidBody body = pBody as RigidBody; + IndexedMatrix transform = body.GetWorldTransform(); + IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity(); + IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity(); + IndexedQuaternion rotation = transform.GetRotation(); + ent.Acceleration = Vector3.Zero; + ent.ID = (uint)body.GetUserPointer(); + ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); + ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); + ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); + ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z); + return ent; + } + + public override Vector3 GetLocalScaling2(object pBody) + { + CollisionShape shape = pBody as CollisionShape; + IndexedVector3 scale = shape.GetLocalScaling(); + return new Vector3(scale.X,scale.Y,scale.Z); + } + + public override bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe) + { + DynamicsWorld world = pWorld as DynamicsWorld; + if (world != null) + { + if (NotMe is CollisionObject || NotMe is RigidBody) + { + CollisionObject AvoidBody = NotMe as CollisionObject; + + IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); + IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); + using ( + ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin, + rEnd, AvoidBody) + ) + { + world.RayTest(ref rOrigin, ref rEnd, rayCallback); + if (rayCallback.HasHit()) + { + IndexedVector3 hitLocation = rayCallback.m_hitPointWorld; + + } + return rayCallback.HasHit(); + } + } + } + return false; + } } - */ +*/ } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 699f055..2350f59 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -362,7 +362,7 @@ public abstract void DestroyObject(BulletWorld sim, BulletBody obj); // ===================================================================================== public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin); -public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, +public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, float scaleFactor, float collisionMargin); // ===================================================================================== diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 064ce3c..cb8108d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -300,7 +300,7 @@ public sealed class BSPrim : BSPhysObject // All positions are given in world positions. if (_position == value) { - DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); return; } _position = value; @@ -894,21 +894,26 @@ public sealed class BSPrim : BSPhysObject // Object MUST NOT already be in the world. // This routine exists because some assorted properties get mangled by adding to the world. internal void AddObjectToPhysicalWorld() - { - if (PhysBody.HasPhysicalBody) - { - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); - - // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. - // Replace this when the new AddObjectToWorld function is complete. - PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity()); - - // Collision filter can be set only when the object is in the world - if (!PhysBody.ApplyCollisionMask(PhysicsScene)) - { - m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); - } + { + if (PhysBody.HasPhysicalBody) + { + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); + + // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. + // Replace this when the new AddObjectToWorld function is complete. + PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity()); + + // Collision filter can be set only when the object is in the world + if (!PhysBody.ApplyCollisionMask(PhysicsScene)) + { + m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); + } + } + else + { + m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index cd77581..2b652f5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -45,7 +45,7 @@ public sealed class BSShapeCollection : IDisposable // Description of a Mesh private struct MeshDesc { - public IntPtr ptr; + public BulletShape shape; public int referenceCount; public DateTime lastReferenced; public UInt64 shapeKey; @@ -55,7 +55,7 @@ public sealed class BSShapeCollection : IDisposable // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations. private struct HullDesc { - public IntPtr ptr; + public BulletShape shape; public int referenceCount; public DateTime lastReferenced; public UInt64 shapeKey; @@ -173,7 +173,7 @@ public sealed class BSShapeCollection : IDisposable } // Zero any reference to the shape so it is not freed when the body is deleted. - PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, new BulletShape()); + PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null); PhysicsScene.PE.DestroyObject(PhysicsScene.World, body); }); } @@ -202,7 +202,7 @@ public sealed class BSShapeCollection : IDisposable else { // This is a new reference to a mesh - meshDesc.ptr = shape.ptr; + meshDesc.shape = shape.Clone(); meshDesc.shapeKey = shape.shapeKey; // We keep a reference to the underlying IMesh data so a hull can be built meshDesc.referenceCount = 1; @@ -225,7 +225,7 @@ public sealed class BSShapeCollection : IDisposable else { // This is a new reference to a hull - hullDesc.ptr = shape.ptr; + hullDesc.shape = shape.Clone(); hullDesc.shapeKey = shape.shapeKey; hullDesc.referenceCount = 1; if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", @@ -361,15 +361,14 @@ public sealed class BSShapeCollection : IDisposable MeshDesc meshDesc; HullDesc hullDesc; - IntPtr cShape = shapeInfo.ptr; - if (TryGetMeshByPtr(cShape, out meshDesc)) + if (TryGetMeshByPtr(shapeInfo, out meshDesc)) { shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; shapeInfo.shapeKey = meshDesc.shapeKey; } else { - if (TryGetHullByPtr(cShape, out hullDesc)) + if (TryGetHullByPtr(shapeInfo, out hullDesc)) { shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL; shapeInfo.shapeKey = hullDesc.shapeKey; @@ -632,7 +631,7 @@ public sealed class BSShapeCollection : IDisposable if (Meshes.TryGetValue(newMeshKey, out meshDesc)) { // If the mesh has already been built just use it. - newShape = new BulletShape(meshDesc.ptr, BSPhysicsShapeType.SHAPE_MESH); + newShape = meshDesc.shape.Clone(); } else { @@ -703,7 +702,7 @@ public sealed class BSShapeCollection : IDisposable if (Hulls.TryGetValue(newHullKey, out hullDesc)) { // If the hull shape already is created, just use it. - newShape = new BulletShape(hullDesc.ptr, BSPhysicsShapeType.SHAPE_HULL); + newShape = hullDesc.shape.Clone(); } else { @@ -965,13 +964,13 @@ public sealed class BSShapeCollection : IDisposable return ret; } - private bool TryGetMeshByPtr(IntPtr addr, out MeshDesc outDesc) + private bool TryGetMeshByPtr(BulletShape shape, out MeshDesc outDesc) { bool ret = false; MeshDesc foundDesc = new MeshDesc(); foreach (MeshDesc md in Meshes.Values) { - if (md.ptr == addr) + if (md.shape.ReferenceSame(shape)) { foundDesc = md; ret = true; @@ -983,13 +982,13 @@ public sealed class BSShapeCollection : IDisposable return ret; } - private bool TryGetHullByPtr(IntPtr addr, out HullDesc outDesc) + private bool TryGetHullByPtr(BulletShape shape, out HullDesc outDesc) { bool ret = false; HullDesc foundDesc = new HullDesc(); foreach (HullDesc hd in Hulls.Values) { - if (hd.ptr == addr) + if (hd.shape.ReferenceSame(shape)) { foundDesc = hd; ret = true; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 681d21e..662dd68 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -33,17 +33,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // Classes to allow some type checking for the API // These hold pointers to allocated objects in the unmanaged space. +// These classes are subclassed by the various physical implementations of +// objects. In particular, there is a version for physical instances in +// unmanaged memory ("unman") and one for in managed memory ("XNA"). + +// Currently, the instances of these classes are a reference to a +// physical representation and this has no releationship to other +// instances. Someday, refarb the usage of these classes so each instance +// refers to a particular physical instance and this class controls reference +// counts and such. This should be done along with adding BSShapes. -// The physics engine controller class created at initialization public class BulletWorld { - public BulletWorld(uint worldId, BSScene bss, IntPtr xx) + public BulletWorld(uint worldId, BSScene bss) { - ptr = xx; worldID = worldId; physicsScene = bss; } - public IntPtr ptr; public uint worldID; // The scene is only in here so very low level routines have a handle to print debug/error messages public BSScene physicsScene; @@ -52,27 +58,19 @@ public class BulletWorld // An allocated Bullet btRigidBody public class BulletBody { - public BulletBody(uint id) : this(id, IntPtr.Zero) - { - } - public BulletBody(uint id, IntPtr xx) + public BulletBody(uint id) { ID = id; - ptr = xx; collisionType = CollisionType.Static; } - public IntPtr ptr; public uint ID; public CollisionType collisionType; - public void Clear() - { - ptr = IntPtr.Zero; - } - public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } + public virtual void Clear() { } + public virtual bool HasPhysicalBody { get { return false; } } // Apply the specificed collision mask into the physical world - public bool ApplyCollisionMask(BSScene physicsScene) + public virtual bool ApplyCollisionMask(BSScene physicsScene) { // Should assert the body has been added to the physical world. // (The collision masks are stored in the collision proxy cache which only exists for @@ -83,12 +81,9 @@ public class BulletBody } // Used for log messages for a unique display of the memory/object allocated to this instance - public string AddrString + public virtual string AddrString { - get - { - return ptr.ToString("X"); - } + get { return "unknown"; } } public override string ToString() @@ -108,38 +103,26 @@ public class BulletBody public class BulletShape { public BulletShape() - : this(IntPtr.Zero, BSPhysicsShapeType.SHAPE_UNKNOWN) - { - } - public BulletShape(IntPtr xx) - : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN) { - } - public BulletShape(IntPtr xx, BSPhysicsShapeType typ) - { - ptr = xx; - type = typ; + type = BSPhysicsShapeType.SHAPE_UNKNOWN; shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; isNativeShape = false; } - public IntPtr ptr; public BSPhysicsShapeType type; public System.UInt64 shapeKey; public bool isNativeShape; - public void Clear() - { - ptr = IntPtr.Zero; - } - public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } + public virtual void Clear() { } + public virtual bool HasPhysicalShape { get { return false; } } + // Make another reference to this physical object. + public virtual BulletShape Clone() { return new BulletShape(); } + // Return 'true' if this and other refer to the same physical object + public virtual bool ReferenceSame(BulletShape xx) { return false; } // Used for log messages for a unique display of the memory/object allocated to this instance - public string AddrString + public virtual string AddrString { - get - { - return ptr.ToString("X"); - } + get { return "unknown"; } } public override string ToString() @@ -161,25 +144,16 @@ public class BulletShape // An allocated Bullet btConstraint public class BulletConstraint { - public BulletConstraint(IntPtr xx) - { - ptr = xx; - } - public IntPtr ptr; - - public void Clear() + public BulletConstraint() { - ptr = IntPtr.Zero; } - public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } + public virtual void Clear() { } + public virtual bool HasPhysicalConstraint { get { return false; } } // Used for log messages for a unique display of the memory/object allocated to this instance - public string AddrString + public virtual string AddrString { - get - { - return ptr.ToString("X"); - } + get { return "unknown"; } } } -- cgit v1.1