/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyrightD * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the name of the OpenSimulator Project nor the * names of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ using System; using System.Collections.Generic; using System.Text; using OMV = OpenMetaverse; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; using OpenSim.Region.Physics.ConvexDecompositionDotNet; namespace OpenSim.Region.Physics.BulletSPlugin { public sealed class BSShapeCollection : IDisposable { private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; private BSScene PhysicsScene { get; set; } private Object m_collectionActivityLock = new Object(); // Description of a Mesh private struct MeshDesc { public IntPtr ptr; public int referenceCount; public DateTime lastReferenced; public UInt64 shapeKey; } // Description of a hull. // 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 int referenceCount; public DateTime lastReferenced; public UInt64 shapeKey; } // The sharable set of meshes and hulls. Indexed by their shape hash. private Dictionary Meshes = new Dictionary(); private Dictionary Hulls = new Dictionary(); public BSShapeCollection(BSScene physScene) { PhysicsScene = physScene; } public void Dispose() { // TODO!!!!!!!!! } // Callbacks called just before either the body or shape is destroyed. // Mostly used for changing bodies out from under Linksets. // Useful for other cases where parameters need saving. // Passing 'null' says no callback. public delegate void ShapeDestructionCallback(BulletShape shape); public delegate void BodyDestructionCallback(BulletBody body); // Called to update/change the body and shape for an object. // First checks the shape and updates that if necessary then makes // sure the body is of the right type. // Return 'true' if either the body or the shape changed. // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before // the current shape or body is destroyed. This allows the caller to remove any // higher level dependencies on the shape or body. Mostly used for LinkSets to // remove the physical constraints before the body is destroyed. // Called at taint-time!! public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) { PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); bool ret = false; // This lock could probably be pushed down lower but building shouldn't take long lock (m_collectionActivityLock) { // Do we have the correct geometry for this type of object? // Updates prim.BSShape with information/pointers to shape. // Returns 'true' of BSShape is changed to a new shape. bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback); // If we had to select a new shape geometry for the object, // rebuild the body around it. // Updates prim.BSBody with information/pointers to requested body // Returns 'true' if BSBody was changed. bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.PhysShape, bodyCallback); ret = newGeom || newBody; } DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}", prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape); return ret; } // Track another user of a body. // We presume the caller has allocated the body. // Bodies only have one user so the body is just put into the world if not already there. public void ReferenceBody(BulletBody body, bool inTaintTime) { lock (m_collectionActivityLock) { DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() { if (!BulletSimAPI.IsInWorld2(body.ptr)) { BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); } }); } } // Release the usage of a body. // Called when releasing use of a BSBody. BSShape is handled separately. public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback ) { if (body.ptr == IntPtr.Zero) return; lock (m_collectionActivityLock) { PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate() { DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}", body.ID, body, inTaintTime); // If the caller needs to know the old body is going away, pass the event up. if (bodyCallback != null) bodyCallback(body); if (BulletSimAPI.IsInWorld2(body.ptr)) { BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); } // Zero any reference to the shape so it is not freed when the body is deleted. BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); }); } } // Track the datastructures and use count for a shape. // When creating a hull, this is called first to reference the mesh // and then again to reference the hull. // Meshes and hulls for the same shape have the same hash key. // NOTE that native shapes are not added to the mesh list or removed. // Returns 'true' if this is the initial reference to the shape. Otherwise reused. public bool ReferenceShape(BulletShape shape) { bool ret = false; switch (shape.type) { case BSPhysicsShapeType.SHAPE_MESH: MeshDesc meshDesc; if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) { // There is an existing instance of this mesh. meshDesc.referenceCount++; DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); } else { // This is a new reference to a mesh meshDesc.ptr = shape.ptr; meshDesc.shapeKey = shape.shapeKey; // We keep a reference to the underlying IMesh data so a hull can be built meshDesc.referenceCount = 1; DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); ret = true; } meshDesc.lastReferenced = System.DateTime.Now; Meshes[shape.shapeKey] = meshDesc; break; case BSPhysicsShapeType.SHAPE_HULL: HullDesc hullDesc; if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) { // There is an existing instance of this hull. hullDesc.referenceCount++; DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); } else { // This is a new reference to a hull hullDesc.ptr = shape.ptr; hullDesc.shapeKey = shape.shapeKey; hullDesc.referenceCount = 1; DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); ret = true; } hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; break; case BSPhysicsShapeType.SHAPE_UNKNOWN: break; default: // Native shapes are not tracked and they don't go into any list break; } return ret; } // Release the usage of a shape. public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) { if (shape.ptr == IntPtr.Zero) return; PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate() { if (shape.ptr != IntPtr.Zero) { if (shape.isNativeShape) { // Native shapes are not tracked and are released immediately DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); if (shapeCallback != null) shapeCallback(shape); BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); } else { switch (shape.type) { case BSPhysicsShapeType.SHAPE_HULL: DereferenceHull(shape, shapeCallback); break; case BSPhysicsShapeType.SHAPE_MESH: DereferenceMesh(shape, shapeCallback); break; case BSPhysicsShapeType.SHAPE_COMPOUND: DereferenceCompound(shape, shapeCallback); break; case BSPhysicsShapeType.SHAPE_UNKNOWN: break; default: break; } } } }); } // Count down the reference count for a mesh shape // Called at taint-time. private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback) { MeshDesc meshDesc; if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) { meshDesc.referenceCount--; // TODO: release the Bullet storage if (shapeCallback != null) shapeCallback(shape); meshDesc.lastReferenced = System.DateTime.Now; Meshes[shape.shapeKey] = meshDesc; DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}", BSScene.DetailLogZero, shape, meshDesc.referenceCount); } } // Count down the reference count for a hull shape // Called at taint-time. private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback) { HullDesc hullDesc; if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) { hullDesc.referenceCount--; // TODO: release the Bullet storage (aging old entries?) // Tell upper layers that, if they have dependencies on this shape, this link is going away if (shapeCallback != null) shapeCallback(shape); hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}", BSScene.DetailLogZero, shape, hullDesc.referenceCount); } } // Remove a reference to a compound shape. // Taking a compound shape apart is a little tricky because if you just delete the // physical shape, it will free all the underlying children. We can't do that because // they could be shared. So, this removes each of the children from the compound and // dereferences them separately before destroying the compound collision object itself. // Called at taint-time. private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) { if (!BulletSimAPI.IsCompound2(shape.ptr)) { // Failed the sanity check!! PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", LogHeader, shape.type, shape.ptr.ToString("X")); DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", BSScene.DetailLogZero, shape.type, shape.ptr.ToString("X")); return; } int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr); DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren); for (int ii = numChildren - 1; ii >= 0; ii--) { IntPtr childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii); DereferenceAnonCollisionShape(childShape); } BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); } // Sometimes we have a pointer to a collision shape but don't know what type it is. // Figure out type and call the correct dereference routine. // Called at taint-time. private void DereferenceAnonCollisionShape(IntPtr cShape) { MeshDesc meshDesc; HullDesc hullDesc; BulletShape shapeInfo = new BulletShape(cShape); if (TryGetMeshByPtr(cShape, out meshDesc)) { shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; shapeInfo.shapeKey = meshDesc.shapeKey; } else { if (TryGetHullByPtr(cShape, out hullDesc)) { shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL; shapeInfo.shapeKey = hullDesc.shapeKey; } else { if (BulletSimAPI.IsCompound2(cShape)) { shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; } else { if (BulletSimAPI.IsNativeShape2(cShape)) { shapeInfo.isNativeShape = true; shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) } } } } DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN) { DereferenceShape(shapeInfo, true, null); } else { PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}", LogHeader, PhysicsScene.RegionName, cShape.ToString("X")); } } // Create the geometry information in Bullet for later use. // The objects needs a hull if it's physical otherwise a mesh is enough. // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls, // shared geometries will be used. If the parameters of the existing shape are the same // as this request, the shape is not rebuilt. // Info in prim.BSShape is updated to the new shape. // Returns 'true' if the geometry was rebuilt. // Called at taint-time! private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) { bool ret = false; bool haveShape = false; if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) { // an avatar capsule is close to a native shape (it is not shared) ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); ret = true; haveShape = true; } // Compound shapes are handled special as they are rebuilt from scratch. // This isn't too great a hardship since most of the child shapes will already been created. if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) { ret = GetReferenceToCompoundShape(prim, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); haveShape = true; } if (!haveShape) { ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback); } return ret; } // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'. private bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) { bool ret = false; bool haveShape = false; bool nativeShapePossible = true; PrimitiveBaseShape pbs = prim.BaseShape; // If the prim attributes are simple, this could be a simple Bullet native shape if (!haveShape && pbs != null && nativeShapePossible && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 && pbs.ProfileHollow == 0 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 && pbs.PathBegin == 0 && pbs.PathEnd == 0 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) { // It doesn't look like Bullet scales spheres so make sure the scales are all equal if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z) { haveShape = true; if (forceRebuild || prim.Scale != prim.Size || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE ) { ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); } } if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) { haveShape = true; if (forceRebuild || prim.Scale != prim.Size || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX ) { ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); } } } // If a simple shape is not happening, create a mesh and possibly a hull. if (!haveShape && pbs != null) { ret = CreateGeomMeshOrHull(prim, shapeCallback); } return ret; } public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { bool ret = false; // Note that if it's a native shape, the check for physical/non-physical is not // made. Native shapes work in either case. if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) { // Update prim.BSShape to reference a hull of this shape. ret = GetReferenceToHull(prim,shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } else { ret = GetReferenceToMesh(prim, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } return ret; } // Creates a native shape and assignes it to prim.BSShape. // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape(). private bool GetReferenceToNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType, FixedShapeKey shapeKey, ShapeDestructionCallback shapeCallback) { // release any previous shape DereferenceShape(prim.PhysShape, true, shapeCallback); BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", prim.LocalID, newShape, prim.Scale); prim.PhysShape = newShape; return true; } private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { BulletShape newShape; // Need to make sure the passed shape information is for the native type. ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; nativeShapeData.ID = prim.LocalID; nativeShapeData.Scale = prim.Scale; nativeShapeData.Size = prim.Scale; // unneeded, I think. nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) { // The proper scale has been calculated in the prim. newShape = new BulletShape( BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) , shapeType); DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); } else { // Native shapes are scaled in Bullet so set the scaling to the size prim.Scale = prim.Size; nativeShapeData.Scale = prim.Scale; newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); } if (newShape.ptr == IntPtr.Zero) { PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", LogHeader, prim.LocalID, shapeType); } newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; return newShape; } // Builds a mesh shape in the physical world and updates prim.BSShape. // Dereferences previous shape in BSShape and adds a reference for this new shape. // Returns 'true' of a mesh was actually built. Otherwise . // Called at taint-time! private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { BulletShape newShape = new BulletShape(IntPtr.Zero); float lod; System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); // if this new shape is the same as last time, don't recreate the mesh if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH) return false; DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}", prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); // Since we're recreating new, get rid of the reference to the previous shape DereferenceShape(prim.PhysShape, true, shapeCallback); newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod); // Take evasive action if the mesh was not constructed. newShape = VerifyMeshCreated(newShape, prim); ReferenceShape(newShape); // meshes are already scaled by the meshmerizer prim.Scale = new OMV.Vector3(1f, 1f, 1f); prim.PhysShape = newShape; return true; // 'true' means a new shape has been added to this prim } private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { IMesh meshData = null; IntPtr meshPtr = IntPtr.Zero; MeshDesc meshDesc; if (Meshes.TryGetValue(newMeshKey, out meshDesc)) { // If the mesh has already been built just use it. meshPtr = meshDesc.ptr; } else { meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false, false, false); if (meshData != null) { int[] indices = meshData.getIndexListAsInt(); List vertices = meshData.getVertexList(); float[] verticesAsFloats = new float[vertices.Count * 3]; int vi = 0; foreach (OMV.Vector3 vv in vertices) { verticesAsFloats[vi++] = vv.X; verticesAsFloats[vi++] = vv.Y; verticesAsFloats[vi++] = vv.Z; } // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, indices.GetLength(0), indices, vertices.Count, verticesAsFloats); } } BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH); newShape.shapeKey = newMeshKey; return newShape; } // See that hull shape exists in the physical world and update prim.BSShape. // We could be creating the hull because scale changed or whatever. private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { BulletShape newShape; float lod; System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); // if the hull hasn't changed, don't rebuild it if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL) return false; DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}", prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X")); // Remove usage of the previous shape. DereferenceShape(prim.PhysShape, true, shapeCallback); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod); newShape = VerifyMeshCreated(newShape, prim); ReferenceShape(newShape); // hulls are already scaled by the meshmerizer prim.Scale = new OMV.Vector3(1f, 1f, 1f); prim.PhysShape = newShape; return true; // 'true' means a new shape has been added to this prim } List m_hulls; private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { IntPtr hullPtr = IntPtr.Zero; HullDesc hullDesc; if (Hulls.TryGetValue(newHullKey, out hullDesc)) { // If the hull shape already is created, just use it. hullPtr = hullDesc.ptr; } else { // Build a new hull in the physical world // Pass true for physicalness as this creates some sort of bounding box which we don't need IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false, false, false); if (meshData != null) { int[] indices = meshData.getIndexListAsInt(); List vertices = meshData.getVertexList(); //format conversion from IMesh format to DecompDesc format List convIndices = new List(); List convVertices = new List(); for (int ii = 0; ii < indices.GetLength(0); ii++) { convIndices.Add(indices[ii]); } foreach (OMV.Vector3 vv in vertices) { convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); } // setup and do convex hull conversion m_hulls = new List(); DecompDesc dcomp = new DecompDesc(); dcomp.mIndices = convIndices; dcomp.mVertices = convVertices; ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); // create the hull into the _hulls variable convexBuilder.process(dcomp); // Convert the vertices and indices for passing to unmanaged. // The hull information is passed as a large floating point array. // The format is: // convHulls[0] = number of hulls // convHulls[1] = number of vertices in first hull // convHulls[2] = hull centroid X coordinate // convHulls[3] = hull centroid Y coordinate // convHulls[4] = hull centroid Z coordinate // convHulls[5] = first hull vertex X // convHulls[6] = first hull vertex Y // convHulls[7] = first hull vertex Z // convHulls[8] = second hull vertex X // ... // convHulls[n] = number of vertices in second hull // convHulls[n+1] = second hull centroid X coordinate // ... // // TODO: is is very inefficient. Someday change the convex hull generator to return // data structures that do not need to be converted in order to pass to Bullet. // And maybe put the values directly into pinned memory rather than marshaling. int hullCount = m_hulls.Count; int totalVertices = 1; // include one for the count of the hulls foreach (ConvexResult cr in m_hulls) { totalVertices += 4; // add four for the vertex count and centroid totalVertices += cr.HullIndices.Count * 3; // we pass just triangles } float[] convHulls = new float[totalVertices]; convHulls[0] = (float)hullCount; int jj = 1; foreach (ConvexResult cr in m_hulls) { // copy vertices for index access float3[] verts = new float3[cr.HullVertices.Count]; int kk = 0; foreach (float3 ff in cr.HullVertices) { verts[kk++] = ff; } // add to the array one hull's worth of data convHulls[jj++] = cr.HullIndices.Count; convHulls[jj++] = 0f; // centroid x,y,z convHulls[jj++] = 0f; convHulls[jj++] = 0f; foreach (int ind in cr.HullIndices) { convHulls[jj++] = verts[ind].x; convHulls[jj++] = verts[ind].y; convHulls[jj++] = verts[ind].z; } } // create the hull data structure in Bullet hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); } } BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL); newShape.shapeKey = newHullKey; return newShape; // 'true' means a new shape has been added to this prim } // Callback from convex hull creater with a newly created hull. // Just add it to our collection of hulls for this shape. private void HullReturn(ConvexResult result) { m_hulls.Add(result); return; } // Compound shapes are always built from scratch. // This shouldn't be to bad since most of the parts will be meshes that had been built previously. private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { // Remove reference to the old shape // Don't need to do this as the shape is freed when the new root shape is created below. // DereferenceShape(prim.PhysShape, true, shapeCallback); BulletShape cShape = new BulletShape( BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND); // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. CreateGeomMeshOrHull(prim, shapeCallback); BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity); DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}", prim.LocalID, cShape, prim.PhysShape); prim.PhysShape = cShape; return true; } // Create a hash of all the shape parameters to be used as a key // for this particular shape. private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) { // level of detail based on size and type of the object float lod = PhysicsScene.MeshLOD; if (pbs.SculptEntry) lod = PhysicsScene.SculptLOD; // Mega prims usually get more detail because one can interact with shape approximations at this size. float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z)); if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) lod = PhysicsScene.MeshMegaPrimLOD; retLod = lod; return pbs.GetMeshKey(size, lod); } // For those who don't want the LOD private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs) { float lod; return ComputeShapeKey(size, pbs, out lod); } // The creation of a mesh or hull can fail if an underlying asset is not available. // There are two cases: 1) the asset is not in the cache and it needs to be fetched; // and 2) the asset cannot be converted (like failed decompression of JPEG2000s). // The first case causes the asset to be fetched. The second case requires // us to not loop forever. // Called after creating a physical mesh or hull. If the physical shape was created, // just return. private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim) { // If the shape was successfully created, nothing more to do if (newShape.ptr != IntPtr.Zero) return newShape; // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero) { prim.LastAssetBuildFailed = true; BSPhysObject xprim = prim; DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}", LogHeader, prim.LocalID, prim.LastAssetBuildFailed); Util.FireAndForget(delegate { RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; if (assetProvider != null) { BSPhysObject yprim = xprim; // probably not necessary, but, just in case. assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) { if (!yprim.BaseShape.SculptEntry) return; if (yprim.BaseShape.SculptTexture.ToString() != asset.ID) return; yprim.BaseShape.SculptData = asset.Data; // This will cause the prim to see that the filler shape is not the right // one and try again to build the object. // No race condition with the normal shape setting since the rebuild is at taint time. yprim.ForceBodyShapeRebuild(false); }); } }); } else { if (prim.LastAssetBuildFailed) { PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}", LogHeader, prim.LocalID, prim.BaseShape.SculptTexture); } } // While we figure out the real problem, stick a simple native shape on the object. BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); return fillinShape; } // Create a body object in Bullet. // Updates prim.BSBody with the information about the new body if one is created. // Returns 'true' if an object was actually created. // Called at taint-time. private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, BodyDestructionCallback bodyCallback) { bool ret = false; // the mesh, hull or native shape must have already been created in Bullet bool mustRebuild = (prim.PhysBody.ptr == IntPtr.Zero); // If there is an existing body, verify it's of an acceptable type. // If not a solid object, body is a GhostObject. Otherwise a RigidBody. if (!mustRebuild) { CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr); if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) { // If the collisionObject is not the correct type for solidness, rebuild what's there mustRebuild = true; } } if (mustRebuild || forceRebuild) { // Free any old body DereferenceBody(prim.PhysBody, true, bodyCallback); BulletBody aBody; IntPtr bodyPtr = IntPtr.Zero; if (prim.IsSolid) { bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } else { bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } aBody = new BulletBody(prim.LocalID, bodyPtr); ReferenceBody(aBody, true); prim.PhysBody = aBody; ret = true; } return ret; } private bool TryGetMeshByPtr(IntPtr addr, out MeshDesc outDesc) { bool ret = false; MeshDesc foundDesc = new MeshDesc(); foreach (MeshDesc md in Meshes.Values) { if (md.ptr == addr) { foundDesc = md; ret = true; break; } } outDesc = foundDesc; return ret; } private bool TryGetHullByPtr(IntPtr addr, out HullDesc outDesc) { bool ret = false; HullDesc foundDesc = new HullDesc(); foreach (HullDesc hd in Hulls.Values) { if (hd.ptr == addr) { foundDesc = hd; ret = true; break; } } outDesc = foundDesc; return ret; } private void DetailLog(string msg, params Object[] args) { if (PhysicsScene.PhysicsLogging.Enabled) PhysicsScene.DetailLog(msg, args); } } }