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authorteravus2012-12-23 15:21:25 -0500
committerteravus2012-12-23 15:21:25 -0500
commit92e4f9f412046f8f7926c99c9e56c3a8b6b2edbf (patch)
treeeabcbb758a7512222e84cb51b51b6822cdbf561b /OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
parentRevert "Whitespace change to trigger bot" (diff)
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* Initial commit of BulletSimN (BulletSNPlugin). Purely C# implementation of BulletSim. This is designed to be /as close as possible/ to the BulletSim plugin while still being entirely in the managed space to make keeping it up to date easy as possible (no thinking work). This implementation is /slower/ then the c++ version just because it's fully managed, so it's not appropriate for huge sims, but it will run small ones OK. At the moment, it supports all known features of BulletSim. Think of it like.. POS but everything works. To use this plugin, set the physics plugin to BulletSimN.
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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using OMV = OpenMetaverse;
31
32namespace OpenSim.Region.Physics.BulletSNPlugin
33{
34// Classes to allow some type checking for the API
35// These hold pointers to allocated objects in the unmanaged space.
36
37// The physics engine controller class created at initialization
38public struct BulletSim
39{
40 public BulletSim(uint worldId, BSScene bss, object xx)
41 {
42 ptr = xx;
43 worldID = worldId;
44 physicsScene = bss;
45 }
46 public object ptr;
47 public uint worldID;
48 // The scene is only in here so very low level routines have a handle to print debug/error messages
49 public BSScene physicsScene;
50}
51
52// An allocated Bullet btRigidBody
53public struct BulletBody
54{
55 public BulletBody(uint id) : this(id, null)
56 {
57 }
58 public BulletBody(uint id, object xx)
59 {
60 ID = id;
61 ptr = xx;
62 collisionType = CollisionType.Static;
63 }
64 public object ptr;
65 public uint ID;
66 public CollisionType collisionType;
67
68 public void Clear()
69 {
70 ptr = null;
71 }
72 public bool HasPhysicalBody { get { return ptr != null; } }
73
74 // Apply the specificed collision mask into the physical world
75 public void ApplyCollisionMask()
76 {
77 // Should assert the body has been added to the physical world.
78 // (The collision masks are stored in the collision proxy cache which only exists for
79 // a collision body that is in the world.)
80 BulletSimAPI.SetCollisionGroupMask2(ptr,
81 BulletSimData.CollisionTypeMasks[collisionType].group,
82 BulletSimData.CollisionTypeMasks[collisionType].mask);
83 }
84
85 public override string ToString()
86 {
87 StringBuilder buff = new StringBuilder();
88 buff.Append("<id=");
89 buff.Append(ID.ToString());
90 buff.Append(",p=");
91 buff.Append(ptr.ToString());
92 buff.Append(",c=");
93 buff.Append(collisionType);
94 buff.Append(">");
95 return buff.ToString();
96 }
97}
98
99public struct BulletShape
100{
101 public BulletShape(object xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN)
102 {
103 }
104 public BulletShape(object xx, BSPhysicsShapeType typ)
105 {
106 ptr = xx;
107 type = typ;
108 shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
109 isNativeShape = false;
110 }
111 public object ptr;
112 public BSPhysicsShapeType type;
113 public System.UInt64 shapeKey;
114 public bool isNativeShape;
115
116 public void Clear()
117 {
118 ptr = null;
119 }
120 public bool HasPhysicalShape { get { return ptr != null; } }
121
122 public override string ToString()
123 {
124 StringBuilder buff = new StringBuilder();
125 buff.Append("<p=");
126 buff.Append(ptr.ToString());
127 buff.Append(",s=");
128 buff.Append(type.ToString());
129 buff.Append(",k=");
130 buff.Append(shapeKey.ToString("X"));
131 buff.Append(",n=");
132 buff.Append(isNativeShape.ToString());
133 buff.Append(">");
134 return buff.ToString();
135 }
136}
137
138// An allocated Bullet btConstraint
139public struct BulletConstraint
140{
141 public BulletConstraint(object xx)
142 {
143 ptr = xx;
144 }
145 public object ptr;
146
147 public void Clear()
148 {
149 ptr = null;
150 }
151 public bool HasPhysicalConstraint { get { return ptr != null; } }
152}
153
154// An allocated HeightMapThing which holds various heightmap info.
155// Made a class rather than a struct so there would be only one
156// instance of this and C# will pass around pointers rather
157// than making copies.
158public class BulletHeightMapInfo
159{
160 public BulletHeightMapInfo(uint id, float[] hm, object xx) {
161 ID = id;
162 Ptr = xx;
163 heightMap = hm;
164 terrainRegionBase = OMV.Vector3.Zero;
165 minCoords = new OMV.Vector3(100f, 100f, 25f);
166 maxCoords = new OMV.Vector3(101f, 101f, 26f);
167 minZ = maxZ = 0f;
168 sizeX = sizeY = 256f;
169 }
170 public uint ID;
171 public object Ptr;
172 public float[] heightMap;
173 public OMV.Vector3 terrainRegionBase;
174 public OMV.Vector3 minCoords;
175 public OMV.Vector3 maxCoords;
176 public float sizeX, sizeY;
177 public float minZ, maxZ;
178 public BulletShape terrainShape;
179 public BulletBody terrainBody;
180
181 public float collisionMargin { get; set; }
182}
183
184// The general class of collsion object.
185public enum CollisionType
186{
187 Avatar,
188 Groundplane,
189 Terrain,
190 Static,
191 Dynamic,
192 VolumeDetect,
193 // Linkset, // A linkset should be either Static or Dynamic
194 LinksetChild,
195 Unknown
196};
197
198// Hold specification of group and mask collision flags for a CollisionType
199public struct CollisionTypeFilterGroup
200{
201 public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
202 {
203 type = t;
204 group = g;
205 mask = m;
206 }
207 public CollisionType type;
208 public uint group;
209 public uint mask;
210};
211
212 /* NOTE: old definitions kept for reference. Delete when things are working.
213 // The collsion filters and masked are defined in one place -- don't want them scattered
214 AvatarGroup = BCharacterGroup,
215 AvatarMask = BAllGroup,
216 ObjectGroup = BSolidGroup,
217 ObjectMask = BAllGroup,
218 StaticObjectGroup = BStaticGroup,
219 StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
220 LinksetGroup = BLinksetGroup,
221 LinksetMask = BAllGroup,
222 LinksetChildGroup = BLinksetChildGroup,
223 LinksetChildMask = BNoneGroup, // Linkset children disappear from the world
224 VolumeDetectGroup = BSensorTrigger,
225 VolumeDetectMask = ~BSensorTrigger,
226 TerrainGroup = BTerrainGroup,
227 TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
228 GroundPlaneGroup = BGroundPlaneGroup,
229 GroundPlaneMask = BAllGroup
230 */
231
232public static class BulletSimData
233{
234
235// Map of collisionTypes to flags for collision groups and masks.
236// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
237// but, instead, use references to this dictionary. Finding and debugging
238// collision flag problems will be made easier.
239public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
240 = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
241{
242 { CollisionType.Avatar,
243 new CollisionTypeFilterGroup(CollisionType.Avatar,
244 (uint)CollisionFilterGroups.BCharacterGroup,
245 (uint)CollisionFilterGroups.BAllGroup)
246 },
247 { CollisionType.Groundplane,
248 new CollisionTypeFilterGroup(CollisionType.Groundplane,
249 (uint)CollisionFilterGroups.BGroundPlaneGroup,
250 (uint)CollisionFilterGroups.BAllGroup)
251 },
252 { CollisionType.Terrain,
253 new CollisionTypeFilterGroup(CollisionType.Terrain,
254 (uint)CollisionFilterGroups.BTerrainGroup,
255 (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
256 },
257 { CollisionType.Static,
258 new CollisionTypeFilterGroup(CollisionType.Static,
259 (uint)CollisionFilterGroups.BStaticGroup,
260 (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
261 },
262 { CollisionType.Dynamic,
263 new CollisionTypeFilterGroup(CollisionType.Dynamic,
264 (uint)CollisionFilterGroups.BSolidGroup,
265 (uint)(CollisionFilterGroups.BAllGroup))
266 },
267 { CollisionType.VolumeDetect,
268 new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
269 (uint)CollisionFilterGroups.BSensorTrigger,
270 (uint)(~CollisionFilterGroups.BSensorTrigger))
271 },
272 { CollisionType.LinksetChild,
273 new CollisionTypeFilterGroup(CollisionType.LinksetChild,
274 (uint)CollisionFilterGroups.BTerrainGroup,
275 (uint)(CollisionFilterGroups.BNoneGroup))
276 },
277};
278
279}
280}