BulletSim: btGhostObjects working to make 'volume detect' work.

Rearrangement and cleanup of shape collection code. Much more readable.
Enabling and use of collision filters and masks.
Addition of ID to body creation BulletSimAPI calls so always set in
    shape for collision reporting.
Change default of ShouldSplitSimulationIslands and ShouldRandomizeSolverOrder
    from 'false' to 'true'. When 'false', this suppresses NO_CONTACT_RESPONSE
    which makes volume detect fail.

1 files changed, 52 insertions, 26 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 8480dd1..6910050 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -57,9 +57,13 @@ public struct BulletBody
     {
         ID = id;
         ptr = xx;
+        collisionFilter = 0;
+        collisionMask = 0;
     }
     public IntPtr ptr;
     public uint ID;
+    public CollisionFilterGroups collisionFilter;
+    public CollisionFilterGroups collisionMask;
     public override string ToString()
     {
         StringBuilder buff = new StringBuilder();
@@ -67,6 +71,13 @@ public struct BulletBody
         buff.Append(ID.ToString());
         buff.Append(",p=");
         buff.Append(ptr.ToString("X"));
+        if (collisionFilter != 0 && collisionMask != 0)
+        {
+            buff.Append(",f=");
+            buff.Append(collisionFilter.ToString("X"));
+            buff.Append(",m=");
+            buff.Append(collisionMask.ToString("X"));
+        }
         buff.Append(">");
         return buff.ToString();
     }
@@ -80,7 +91,6 @@ public struct BulletShape
         type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
         shapeKey = 0;
         isNativeShape = false;
-        meshPtr = IntPtr.Zero;
     }
     public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
     {
@@ -88,14 +98,12 @@ public struct BulletShape
         type = typ;
         shapeKey = 0;
         isNativeShape = false;
-        meshPtr = IntPtr.Zero;
     }
     public IntPtr ptr;
     public ShapeData.PhysicsShapeType type;
     public ulong shapeKey;
     public bool isNativeShape;
     // Hulls have an underlying mesh. A pointer to it is hidden here.
-    public IntPtr meshPtr;
     public override string ToString()
     {
         StringBuilder buff = new StringBuilder();
@@ -107,8 +115,6 @@ public struct BulletShape
         buff.Append(shapeKey.ToString("X"));
         buff.Append(",n=");
         buff.Append(isNativeShape.ToString());
-        buff.Append(",m=");
-        buff.Append(meshPtr.ToString("X"));
         buff.Append(">");
         return buff.ToString();
     }
@@ -124,7 +130,7 @@ public struct BulletConstraint
     public IntPtr Ptr;
 }
 
-// An allocated HeightMapThing which hold various heightmap info
+// An allocated HeightMapThing which holds various heightmap info.
 // Made a class rather than a struct so there would be only one
 //      instance of this and C# will pass around pointers rather
 //      than making copies.
@@ -345,21 +351,41 @@ public enum CollisionFlags : uint
 // Values for collisions groups and masks
 public enum CollisionFilterGroups : uint
 {
-    NoneFilter              = 0,
-    DefaultFilter           = 1 << 0,
-    StaticFilter            = 1 << 1,
-    KinematicFilter         = 1 << 2,
-    DebrisFilter            = 1 << 3,
-    SensorTrigger           = 1 << 4,
-    CharacterFilter         = 1 << 5,
-    AllFilter               = 0xFFFFFFFF,
+    // Don't use the bit definitions!!  Define the use in a
+    //   filter/mask definition below. This way collision interactions
+    //   are more easily debugged.
+    BNoneFilter              = 0,
+    BDefaultFilter           = 1 << 0,
+    BStaticFilter            = 1 << 1,
+    BKinematicFilter         = 1 << 2,
+    BDebrisFilter            = 1 << 3,
+    BSensorTrigger           = 1 << 4,
+    BCharacterFilter         = 1 << 5,
+    BAllFilter               = 0xFFFFFFFF,
     // Filter groups defined by BulletSim
-    GroundPlaneFilter       = 1 << 10,
-    TerrainFilter           = 1 << 11,
-    RaycastFilter           = 1 << 12,
-    SolidFilter             = 1 << 13,
+    BGroundPlaneFilter       = 1 << 10,
+    BTerrainFilter           = 1 << 11,
+    BRaycastFilter           = 1 << 12,
+    BSolidFilter             = 1 << 13,
+
+    // The collsion filters and masked are defined in one place -- don't want them scattered
+    AvatarFilter            = BDefaultFilter | BCharacterFilter | BSolidFilter,
+    AvatarMask              = BAllFilter,
+    ObjectFilter            = BDefaultFilter | BSolidFilter,
+    ObjectMask              = BAllFilter,
+    StaticObjectFilter      = BDefaultFilter | BStaticFilter | BSolidFilter,
+    StaticObjectMask        = BAllFilter,
+    VolumeDetectFilter      = BSensorTrigger,
+    VolumeDetectMask        = ~BSensorTrigger,
+    TerrainFilter           = BTerrainFilter,
+    TerrainMask             = BAllFilter,
+    GroundPlaneFilter       = BAllFilter,
+    GroundPlaneMask         = BAllFilter
+
 };
 
+
+
 // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
 // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
 public enum ConstraintParams : int
@@ -560,7 +586,7 @@ public static extern IntPtr CreateHullShape2(IntPtr world,
                 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildHullShape2(IntPtr world, IntPtr meshShape);
+public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
@@ -581,7 +607,7 @@ public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr re
 public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo);
+public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
@@ -590,13 +616,13 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
 public static extern int GetBodyType2(IntPtr obj);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot);
+public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot);
+public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot);
+public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
@@ -1015,6 +1041,9 @@ public static extern Vector3 GetPushVelocity2(IntPtr obj);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern Vector3 GetTurnVelocity2(IntPtr obj);
 
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
+
 // =====================================================================================
 // btCollisionShape entries
 
@@ -1066,9 +1095,6 @@ public static extern void SetMargin2(IntPtr shape, float val);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern float GetMargin2(IntPtr shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask);
-
 // =====================================================================================
 // Debugging
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]