diff options
author | Justin Clark-Casey (justincc) | 2012-12-14 23:29:33 +0000 |
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committer | Justin Clark-Casey (justincc) | 2012-12-14 23:29:33 +0000 |
commit | 2816551215958d866fca03906df4058cf0e4b19b (patch) | |
tree | 26eeb122bb197ed89db22f7de0ef97ff4aedf025 /OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |
parent | Fix issue where calling llVolumeDetect(FALSE) would not remove phantom flag, ... (diff) | |
parent | BulletSim: Add more to the TODO list. Clean up and improve some comments. (diff) | |
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 183 |
1 files changed, 7 insertions, 176 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 1559025..962b540 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -25,6 +25,7 @@ | |||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | */ | 26 | */ |
27 | using System; | 27 | using System; |
28 | using System.Collections.Generic; | ||
28 | using System.Runtime.InteropServices; | 29 | using System.Runtime.InteropServices; |
29 | using System.Security; | 30 | using System.Security; |
30 | using System.Text; | 31 | using System.Text; |
@@ -32,110 +33,6 @@ using OpenMetaverse; | |||
32 | 33 | ||
33 | namespace OpenSim.Region.Physics.BulletSPlugin { | 34 | namespace OpenSim.Region.Physics.BulletSPlugin { |
34 | 35 | ||
35 | // Classes to allow some type checking for the API | ||
36 | // These hold pointers to allocated objects in the unmanaged space. | ||
37 | |||
38 | // The physics engine controller class created at initialization | ||
39 | public struct BulletSim | ||
40 | { | ||
41 | public BulletSim(uint worldId, BSScene bss, IntPtr xx) | ||
42 | { | ||
43 | ptr = xx; | ||
44 | worldID = worldId; | ||
45 | physicsScene = bss; | ||
46 | } | ||
47 | public IntPtr ptr; | ||
48 | public uint worldID; | ||
49 | // The scene is only in here so very low level routines have a handle to print debug/error messages | ||
50 | public BSScene physicsScene; | ||
51 | } | ||
52 | |||
53 | // An allocated Bullet btRigidBody | ||
54 | public struct BulletBody | ||
55 | { | ||
56 | public BulletBody(uint id) : this(id, IntPtr.Zero) | ||
57 | { | ||
58 | } | ||
59 | public BulletBody(uint id, IntPtr xx) | ||
60 | { | ||
61 | ID = id; | ||
62 | ptr = xx; | ||
63 | collisionGroup = 0; | ||
64 | collisionMask = 0; | ||
65 | } | ||
66 | public IntPtr ptr; | ||
67 | public uint ID; | ||
68 | public CollisionFilterGroups collisionGroup; | ||
69 | public CollisionFilterGroups collisionMask; | ||
70 | |||
71 | public void Clear() | ||
72 | { | ||
73 | ptr = IntPtr.Zero; | ||
74 | } | ||
75 | public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } | ||
76 | |||
77 | public override string ToString() | ||
78 | { | ||
79 | StringBuilder buff = new StringBuilder(); | ||
80 | buff.Append("<id="); | ||
81 | buff.Append(ID.ToString()); | ||
82 | buff.Append(",p="); | ||
83 | buff.Append(ptr.ToString("X")); | ||
84 | if (collisionGroup != 0 || collisionMask != 0) | ||
85 | { | ||
86 | buff.Append(",g="); | ||
87 | buff.Append(collisionGroup.ToString("X")); | ||
88 | buff.Append(",m="); | ||
89 | buff.Append(collisionMask.ToString("X")); | ||
90 | } | ||
91 | buff.Append(">"); | ||
92 | return buff.ToString(); | ||
93 | } | ||
94 | } | ||
95 | |||
96 | public struct BulletShape | ||
97 | { | ||
98 | public BulletShape(IntPtr xx) | ||
99 | { | ||
100 | ptr = xx; | ||
101 | type=BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
102 | shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; | ||
103 | isNativeShape = false; | ||
104 | } | ||
105 | public BulletShape(IntPtr xx, BSPhysicsShapeType typ) | ||
106 | { | ||
107 | ptr = xx; | ||
108 | type = typ; | ||
109 | shapeKey = 0; | ||
110 | isNativeShape = false; | ||
111 | } | ||
112 | public IntPtr ptr; | ||
113 | public BSPhysicsShapeType type; | ||
114 | public System.UInt64 shapeKey; | ||
115 | public bool isNativeShape; | ||
116 | |||
117 | public void Clear() | ||
118 | { | ||
119 | ptr = IntPtr.Zero; | ||
120 | } | ||
121 | public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } | ||
122 | |||
123 | public override string ToString() | ||
124 | { | ||
125 | StringBuilder buff = new StringBuilder(); | ||
126 | buff.Append("<p="); | ||
127 | buff.Append(ptr.ToString("X")); | ||
128 | buff.Append(",s="); | ||
129 | buff.Append(type.ToString()); | ||
130 | buff.Append(",k="); | ||
131 | buff.Append(shapeKey.ToString("X")); | ||
132 | buff.Append(",n="); | ||
133 | buff.Append(isNativeShape.ToString()); | ||
134 | buff.Append(">"); | ||
135 | return buff.ToString(); | ||
136 | } | ||
137 | } | ||
138 | |||
139 | // Constraint type values as defined by Bullet | 36 | // Constraint type values as defined by Bullet |
140 | public enum ConstraintType : int | 37 | public enum ConstraintType : int |
141 | { | 38 | { |
@@ -149,50 +46,6 @@ public enum ConstraintType : int | |||
149 | MAX_CONSTRAINT_TYPE | 46 | MAX_CONSTRAINT_TYPE |
150 | } | 47 | } |
151 | 48 | ||
152 | // An allocated Bullet btConstraint | ||
153 | public struct BulletConstraint | ||
154 | { | ||
155 | public BulletConstraint(IntPtr xx) | ||
156 | { | ||
157 | ptr = xx; | ||
158 | } | ||
159 | public IntPtr ptr; | ||
160 | |||
161 | public void Clear() | ||
162 | { | ||
163 | ptr = IntPtr.Zero; | ||
164 | } | ||
165 | public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } | ||
166 | } | ||
167 | |||
168 | // An allocated HeightMapThing which holds various heightmap info. | ||
169 | // Made a class rather than a struct so there would be only one | ||
170 | // instance of this and C# will pass around pointers rather | ||
171 | // than making copies. | ||
172 | public class BulletHeightMapInfo | ||
173 | { | ||
174 | public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) { | ||
175 | ID = id; | ||
176 | Ptr = xx; | ||
177 | heightMap = hm; | ||
178 | terrainRegionBase = Vector3.Zero; | ||
179 | minCoords = new Vector3(100f, 100f, 25f); | ||
180 | maxCoords = new Vector3(101f, 101f, 26f); | ||
181 | minZ = maxZ = 0f; | ||
182 | sizeX = sizeY = 256f; | ||
183 | } | ||
184 | public uint ID; | ||
185 | public IntPtr Ptr; | ||
186 | public float[] heightMap; | ||
187 | public Vector3 terrainRegionBase; | ||
188 | public Vector3 minCoords; | ||
189 | public Vector3 maxCoords; | ||
190 | public float sizeX, sizeY; | ||
191 | public float minZ, maxZ; | ||
192 | public BulletShape terrainShape; | ||
193 | public BulletBody terrainBody; | ||
194 | } | ||
195 | |||
196 | // =============================================================================== | 49 | // =============================================================================== |
197 | [StructLayout(LayoutKind.Sequential)] | 50 | [StructLayout(LayoutKind.Sequential)] |
198 | public struct ConvexHull | 51 | public struct ConvexHull |
@@ -385,21 +238,15 @@ public enum CollisionFlags : uint | |||
385 | BS_FLOATS_ON_WATER = 1 << 11, | 238 | BS_FLOATS_ON_WATER = 1 << 11, |
386 | BS_VEHICLE_COLLISIONS = 1 << 12, | 239 | BS_VEHICLE_COLLISIONS = 1 << 12, |
387 | BS_NONE = 0, | 240 | BS_NONE = 0, |
388 | BS_ALL = 0xFFFFFFFF, | 241 | BS_ALL = 0xFFFFFFFF |
389 | |||
390 | // These are the collision flags switched depending on physical state. | ||
391 | // The other flags are used for other things and should not be fooled with. | ||
392 | BS_ACTIVE = CF_STATIC_OBJECT | ||
393 | | CF_KINEMATIC_OBJECT | ||
394 | | CF_NO_CONTACT_RESPONSE | ||
395 | }; | 242 | }; |
396 | 243 | ||
397 | // Values for collisions groups and masks | 244 | // Values f collisions groups and masks |
398 | public enum CollisionFilterGroups : uint | 245 | public enum CollisionFilterGroups : uint |
399 | { | 246 | { |
400 | // Don't use the bit definitions!! Define the use in a | 247 | // Don't use the bit definitions!! Define the use in a |
401 | // filter/mask definition below. This way collision interactions | 248 | // filter/mask definition below. This way collision interactions |
402 | // are more easily debugged. | 249 | // are more easily found and debugged. |
403 | BNoneGroup = 0, | 250 | BNoneGroup = 0, |
404 | BDefaultGroup = 1 << 0, | 251 | BDefaultGroup = 1 << 0, |
405 | BStaticGroup = 1 << 1, | 252 | BStaticGroup = 1 << 1, |
@@ -413,24 +260,8 @@ public enum CollisionFilterGroups : uint | |||
413 | BTerrainGroup = 1 << 11, | 260 | BTerrainGroup = 1 << 11, |
414 | BRaycastGroup = 1 << 12, | 261 | BRaycastGroup = 1 << 12, |
415 | BSolidGroup = 1 << 13, | 262 | BSolidGroup = 1 << 13, |
416 | BLinksetGroup = 1 << 14, | 263 | // BLinksetGroup = xx // a linkset proper is either static or dynamic |
417 | 264 | BLinksetChildGroup = 1 << 14, | |
418 | // The collsion filters and masked are defined in one place -- don't want them scattered | ||
419 | AvatarGroup = BCharacterGroup, | ||
420 | AvatarMask = BAllGroup, | ||
421 | ObjectGroup = BSolidGroup, | ||
422 | ObjectMask = BAllGroup, | ||
423 | StaticObjectGroup = BStaticGroup, | ||
424 | StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much | ||
425 | LinksetGroup = BLinksetGroup, | ||
426 | LinksetMask = BAllGroup & ~BLinksetGroup, // linkset objects don't collide with each other | ||
427 | VolumeDetectGroup = BSensorTrigger, | ||
428 | VolumeDetectMask = ~BSensorTrigger, | ||
429 | TerrainGroup = BTerrainGroup, | ||
430 | TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide | ||
431 | GroundPlaneGroup = BGroundPlaneGroup, | ||
432 | GroundPlaneMask = BAllGroup | ||
433 | |||
434 | }; | 265 | }; |
435 | 266 | ||
436 | // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 | 267 | // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 |
@@ -457,7 +288,7 @@ public enum ConstraintParamAxis : int | |||
457 | 288 | ||
458 | // =============================================================================== | 289 | // =============================================================================== |
459 | static class BulletSimAPI { | 290 | static class BulletSimAPI { |
460 | 291 | // =============================================================================== | |
461 | // Link back to the managed code for outputting log messages | 292 | // Link back to the managed code for outputting log messages |
462 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | 293 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
463 | public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); | 294 | public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); |