diff options
author | Robert Adams | 2012-08-25 23:18:46 -0700 |
---|---|---|
committer | Robert Adams | 2012-08-31 11:41:18 -0700 |
commit | 7c140570db3b01eb83efc0d42a47715d3047e376 (patch) | |
tree | b077012e0c00cc7bb07f6e81e07359e14ffd2721 /OpenSim/Region/Physics/BulletSPlugin | |
parent | BulletSim: unify physical objects under BSPhysObjects. Now BSScene and BSLink... (diff) | |
download | opensim-SC_OLD-7c140570db3b01eb83efc0d42a47715d3047e376.zip opensim-SC_OLD-7c140570db3b01eb83efc0d42a47715d3047e376.tar.gz opensim-SC_OLD-7c140570db3b01eb83efc0d42a47715d3047e376.tar.bz2 opensim-SC_OLD-7c140570db3b01eb83efc0d42a47715d3047e376.tar.xz |
BulletSim: Changes to terrain storage and management so mega-regions work.
Moved all terrain code out of BSScene and into new BSTerrainManager.
Added logic to manage multiple terrains for mega-regions.
Added new functions to BulletSimAPI to match the library.
Moved all of the terrain creation and setup logic from C++ code to C# code.
The unused code has not yet been removed from either place. Soon.
Moved checks for avatar above ground and in bounds into BSCharacter.
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 37 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 3 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 9 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 118 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 245 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 307 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 61 |
8 files changed, 597 insertions, 185 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 784076d..e76d8a4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
@@ -226,16 +226,37 @@ public class BSCharacter : BSPhysObject | |||
226 | bool ret = false; | 226 | bool ret = false; |
227 | 227 | ||
228 | // If below the ground, move the avatar up | 228 | // If below the ground, move the avatar up |
229 | float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position); | 229 | float terrainHeight = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); |
230 | if (_position.Z < terrainHeight) | 230 | if (Position.Z < terrainHeight) |
231 | { | 231 | { |
232 | DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation); | 232 | DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); |
233 | _position.Z = terrainHeight + 2.0f; | 233 | Vector3 newPos = _position; |
234 | newPos.Z = terrainHeight + 2.0f; | ||
235 | _position = newPos; | ||
234 | ret = true; | 236 | ret = true; |
235 | } | 237 | } |
236 | 238 | ||
237 | // TODO: check for out of bounds | 239 | // TODO: check for out of bounds |
240 | return ret; | ||
241 | } | ||
238 | 242 | ||
243 | // A version of the sanity check that also makes sure a new position value is | ||
244 | // pushed back to the physics engine. This routine would be used by anyone | ||
245 | // who is not already pushing the value. | ||
246 | private bool PositionSanityCheck2() | ||
247 | { | ||
248 | bool ret = false; | ||
249 | if (PositionSanityCheck()) | ||
250 | { | ||
251 | // The new position value must be pushed into the physics engine but we can't | ||
252 | // just assign to "Position" because of potential call loops. | ||
253 | _scene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() | ||
254 | { | ||
255 | DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); | ||
256 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); | ||
257 | }); | ||
258 | ret = true; | ||
259 | } | ||
239 | return ret; | 260 | return ret; |
240 | } | 261 | } |
241 | 262 | ||
@@ -500,9 +521,13 @@ public class BSCharacter : BSPhysObject | |||
500 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. | 521 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. |
501 | // base.RequestPhysicsterseUpdate(); | 522 | // base.RequestPhysicsterseUpdate(); |
502 | 523 | ||
503 | DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", | 524 | // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. |
525 | PositionSanityCheck2(); | ||
526 | |||
527 | float heightHere = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); // just for debug | ||
528 | DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}", | ||
504 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, | 529 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, |
505 | entprop.Acceleration, entprop.RotationalVelocity); | 530 | entprop.Acceleration, entprop.RotationalVelocity, heightHere); |
506 | } | 531 | } |
507 | 532 | ||
508 | // Called by the scene when a collision with this object is reported | 533 | // Called by the scene when a collision with this object is reported |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 25084d8..d9270d1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | |||
@@ -48,11 +48,10 @@ public abstract class BSConstraint : IDisposable | |||
48 | { | 48 | { |
49 | if (m_enabled) | 49 | if (m_enabled) |
50 | { | 50 | { |
51 | // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); | 51 | m_enabled = false; |
52 | bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); | 52 | bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); |
53 | m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); | 53 | m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); |
54 | m_constraint.Ptr = System.IntPtr.Zero; | 54 | m_constraint.Ptr = System.IntPtr.Zero; |
55 | m_enabled = false; | ||
56 | } | 55 | } |
57 | } | 56 | } |
58 | 57 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index d7213fc..8169e99 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -465,6 +465,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
465 | } | 465 | } |
466 | }//end SetDefaultsForType | 466 | }//end SetDefaultsForType |
467 | 467 | ||
468 | // One step of the vehicle properties for the next 'pTimestep' seconds. | ||
468 | internal void Step(float pTimestep) | 469 | internal void Step(float pTimestep) |
469 | { | 470 | { |
470 | if (m_type == Vehicle.TYPE_NONE) return; | 471 | if (m_type == Vehicle.TYPE_NONE) return; |
@@ -592,9 +593,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
592 | } | 593 | } |
593 | 594 | ||
594 | // If below the terrain, move us above the ground a little. | 595 | // If below the terrain, move us above the ground a little. |
595 | if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos)) | 596 | if (pos.Z < m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos)) |
596 | { | 597 | { |
597 | pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2; | 598 | pos.Z = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2; |
598 | m_prim.Position = pos; | 599 | m_prim.Position = pos; |
599 | VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); | 600 | VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); |
600 | } | 601 | } |
@@ -609,7 +610,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
609 | } | 610 | } |
610 | if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) | 611 | if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) |
611 | { | 612 | { |
612 | m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; | 613 | m_VhoverTargetHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; |
613 | } | 614 | } |
614 | if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) | 615 | if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) |
615 | { | 616 | { |
@@ -673,7 +674,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
673 | { | 674 | { |
674 | grav.Z = (float)(grav.Z * 1.125); | 675 | grav.Z = (float)(grav.Z * 1.125); |
675 | } | 676 | } |
676 | float terraintemp = m_prim.Scene.GetTerrainHeightAtXYZ(pos); | 677 | float terraintemp = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos); |
677 | float postemp = (pos.Z - terraintemp); | 678 | float postemp = (pos.Z - terraintemp); |
678 | if (postemp > 2.5f) | 679 | if (postemp > 2.5f) |
679 | { | 680 | { |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6e205a9..ef463ca 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -1,58 +1,60 @@ | |||
1 | /* | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ | 2 | * Copyright (c) Contributors, http://opensimulator.org/ |
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
4 | * | 4 | * |
5 | * Redistribution and use in source and binary forms, with or without | 5 | * Redistribution and use in source and binary forms, with or without |
6 | * modification, are permitted provided that the following conditions are met: | 6 | * modification, are permitted provided that the following conditions are met: |
7 | * * Redistributions of source code must retain the above copyright | 7 | * * Redistributions of source code must retain the above copyright |
8 | * notice, this list of conditions and the following disclaimer. | 8 | * notice, this list of conditions and the following disclaimer. |
9 | * * Redistributions in binary form must reproduce the above copyrightD | 9 | * * Redistributions in binary form must reproduce the above copyrightD |
10 | * notice, this list of conditions and the following disclaimer in the | 10 | * notice, this list of conditions and the following disclaimer in the |
11 | * documentation and/or other materials provided with the distribution. | 11 | * documentation and/or other materials provided with the distribution. |
12 | * * Neither the name of the OpenSimulator Project nor the | 12 | * * Neither the name of the OpenSimulator Project nor the |
13 | * names of its contributors may be used to endorse or promote products | 13 | * names of its contributors may be used to endorse or promote products |
14 | * derived from this software without specific prior written permission. | 14 | * derived from this software without specific prior written permission. |
15 | * | 15 | * |
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | 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 | 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 | 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 | 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. | 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.Collections.Generic; |
29 | using System.Text; | 29 | using System.Text; |
30 | 30 | ||
31 | using OMV = OpenMetaverse; | 31 | using OMV = OpenMetaverse; |
32 | using OpenSim.Framework; | 32 | using OpenSim.Framework; |
33 | using OpenSim.Region.Physics.Manager; | 33 | using OpenSim.Region.Physics.Manager; |
34 | 34 | ||
35 | namespace OpenSim.Region.Physics.BulletSPlugin | 35 | namespace OpenSim.Region.Physics.BulletSPlugin |
36 | { | 36 | { |
37 | // Class to wrap all objects. | 37 | // Class to wrap all objects. |
38 | // The rest of BulletSim doesn't need to keep checking for avatars or prims | 38 | // The rest of BulletSim doesn't need to keep checking for avatars or prims |
39 | // unless the difference is significant. | 39 | // unless the difference is significant. |
40 | public abstract class BSPhysObject : PhysicsActor | 40 | public abstract class BSPhysObject : PhysicsActor |
41 | { | 41 | { |
42 | public abstract BSLinkset Linkset { get; set; } | 42 | public abstract BSLinkset Linkset { get; set; } |
43 | 43 | ||
44 | public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, | 44 | public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, |
45 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); | 45 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); |
46 | public abstract void SendCollisions(); | 46 | public abstract void SendCollisions(); |
47 | 47 | ||
48 | // Return the object mass without calculating it or side effects | 48 | // Return the object mass without calculating it or side effects |
49 | public abstract float MassRaw { get; } | 49 | public abstract float MassRaw { get; } |
50 | 50 | ||
51 | public abstract BulletBody Body { get; set; } | 51 | public abstract BulletBody Body { get; set; } |
52 | public abstract void ZeroMotion(); | 52 | public abstract void ZeroMotion(); |
53 | 53 | ||
54 | public abstract void UpdateProperties(EntityProperties entprop); | 54 | public virtual void StepVehicle(float timeStep) { } |
55 | 55 | ||
56 | public abstract void Destroy(); | 56 | public abstract void UpdateProperties(EntityProperties entprop); |
57 | } | 57 | |
58 | } | 58 | public abstract void Destroy(); |
59 | } | ||
60 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 036fd4f..6bfce5c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -377,7 +377,7 @@ public sealed class BSPrim : BSPhysObject | |||
377 | 377 | ||
378 | // Called each simulation step to advance vehicle characteristics. | 378 | // Called each simulation step to advance vehicle characteristics. |
379 | // Called from Scene when doing simulation step so we're in taint processing time. | 379 | // Called from Scene when doing simulation step so we're in taint processing time. |
380 | public void StepVehicle(float timeStep) | 380 | public override void StepVehicle(float timeStep) |
381 | { | 381 | { |
382 | if (IsPhysical) | 382 | if (IsPhysical) |
383 | _vehicle.Step(timeStep); | 383 | _vehicle.Step(timeStep); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index ce64b9b..f80304d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -39,8 +39,6 @@ using log4net; | |||
39 | using OpenMetaverse; | 39 | using OpenMetaverse; |
40 | 40 | ||
41 | // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) | 41 | // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) |
42 | // Debug linkset | ||
43 | // Test with multiple regions in one simulator | ||
44 | // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) | 42 | // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) |
45 | // Test sculpties | 43 | // Test sculpties |
46 | // Compute physics FPS reasonably | 44 | // Compute physics FPS reasonably |
@@ -54,10 +52,8 @@ using OpenMetaverse; | |||
54 | // Use collision masks for collision with terrain and phantom objects | 52 | // Use collision masks for collision with terrain and phantom objects |
55 | // Check out llVolumeDetect. Must do something for that. | 53 | // Check out llVolumeDetect. Must do something for that. |
56 | // Should prim.link() and prim.delink() membership checking happen at taint time? | 54 | // Should prim.link() and prim.delink() membership checking happen at taint time? |
57 | // changing the position and orientation of a linked prim must rebuild the constraint with the root. | ||
58 | // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once | 55 | // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once |
59 | // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect | 56 | // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect |
60 | // Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions) | ||
61 | // Implement LockAngularMotion | 57 | // Implement LockAngularMotion |
62 | // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) | 58 | // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) |
63 | // Does NeedsMeshing() really need to exclude all the different shapes? | 59 | // Does NeedsMeshing() really need to exclude all the different shapes? |
@@ -85,18 +81,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
85 | // moved to a better place. | 81 | // moved to a better place. |
86 | private HashSet<BSCharacter> m_avatarsWithCollisions = new HashSet<BSCharacter>(); | 82 | private HashSet<BSCharacter> m_avatarsWithCollisions = new HashSet<BSCharacter>(); |
87 | 83 | ||
88 | private List<BSPrim> m_vehicles = new List<BSPrim>(); | 84 | // List of all the objects that have vehicle properties and should be called |
89 | 85 | // to update each physics step. | |
90 | private float[] m_heightMap; | 86 | private List<BSPhysObject> m_vehicles = new List<BSPhysObject>(); |
91 | private float m_waterLevel; | ||
92 | private uint m_worldID; | ||
93 | public uint WorldID { get { return m_worldID; } } | ||
94 | 87 | ||
95 | // let my minuions use my logger | 88 | // let my minuions use my logger |
96 | public ILog Logger { get { return m_log; } } | 89 | public ILog Logger { get { return m_log; } } |
97 | 90 | ||
98 | private bool m_initialized = false; | 91 | // If non-zero, the number of simulation steps between calls to the physics |
99 | 92 | // engine to output detailed physics stats. Debug logging level must be on also. | |
100 | private int m_detailedStatsStep = 0; | 93 | private int m_detailedStatsStep = 0; |
101 | 94 | ||
102 | public IMesher mesher; | 95 | public IMesher mesher; |
@@ -106,29 +99,31 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
106 | public float MeshMegaPrimThreshold { get; private set; } | 99 | public float MeshMegaPrimThreshold { get; private set; } |
107 | public float SculptLOD { get; private set; } | 100 | public float SculptLOD { get; private set; } |
108 | 101 | ||
109 | private BulletSim m_worldSim; | 102 | public uint WorldID { get; private set; } |
110 | public BulletSim World | 103 | public BulletSim World { get; private set; } |
111 | { | 104 | |
112 | get { return m_worldSim; } | 105 | // All the constraints that have been allocated in this instance. |
113 | } | 106 | public BSConstraintCollection Constraints { get; private set; } |
114 | private BSConstraintCollection m_constraintCollection; | ||
115 | public BSConstraintCollection Constraints | ||
116 | { | ||
117 | get { return m_constraintCollection; } | ||
118 | } | ||
119 | 107 | ||
108 | // Simulation parameters | ||
120 | private int m_maxSubSteps; | 109 | private int m_maxSubSteps; |
121 | private float m_fixedTimeStep; | 110 | private float m_fixedTimeStep; |
122 | private long m_simulationStep = 0; | 111 | private long m_simulationStep = 0; |
123 | public long SimulationStep { get { return m_simulationStep; } } | 112 | public long SimulationStep { get { return m_simulationStep; } } |
124 | 113 | ||
114 | // The length of the last timestep we were asked to simulate. | ||
115 | // This is used by the vehicle code. Since the vehicle code is called | ||
116 | // once per simulation step, its constants need to be scaled by this. | ||
125 | public float LastSimulatedTimestep { get; private set; } | 117 | public float LastSimulatedTimestep { get; private set; } |
126 | 118 | ||
127 | // A value of the time now so all the collision and update routines do not have to get their own | 119 | // A value of the time now so all the collision and update routines do not have to get their own |
128 | // Set to 'now' just before all the prims and actors are called for collisions and updates | 120 | // Set to 'now' just before all the prims and actors are called for collisions and updates |
129 | private int m_simulationNowTime; | 121 | public int SimulationNowTime { get; private set; } |
130 | public int SimulationNowTime { get { return m_simulationNowTime; } } | 122 | |
123 | // True if initialized and ready to do simulation steps | ||
124 | private bool m_initialized = false; | ||
131 | 125 | ||
126 | // Pinned memory used to pass step information between managed and unmanaged | ||
132 | private int m_maxCollisionsPerFrame; | 127 | private int m_maxCollisionsPerFrame; |
133 | private CollisionDesc[] m_collisionArray; | 128 | private CollisionDesc[] m_collisionArray; |
134 | private GCHandle m_collisionArrayPinnedHandle; | 129 | private GCHandle m_collisionArrayPinnedHandle; |
@@ -145,6 +140,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
145 | 140 | ||
146 | public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero | 141 | public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero |
147 | public const uint GROUNDPLANE_ID = 1; | 142 | public const uint GROUNDPLANE_ID = 1; |
143 | public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here | ||
144 | |||
145 | private float m_waterLevel; | ||
146 | public BSTerrainManager TerrainManager { get; private set; } | ||
148 | 147 | ||
149 | public ConfigurationParameters Params | 148 | public ConfigurationParameters Params |
150 | { | 149 | { |
@@ -155,12 +154,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
155 | get { return new Vector3(0f, 0f, Params.gravity); } | 154 | get { return new Vector3(0f, 0f, Params.gravity); } |
156 | } | 155 | } |
157 | 156 | ||
158 | private float m_maximumObjectMass; | 157 | public float MaximumObjectMass { get; private set; } |
159 | public float MaximumObjectMass | ||
160 | { | ||
161 | get { return m_maximumObjectMass; } | ||
162 | } | ||
163 | 158 | ||
159 | // When functions in the unmanaged code must be called, it is only | ||
160 | // done at a known time just before the simulation step. The taint | ||
161 | // system saves all these function calls and executes them in | ||
162 | // order before the simulation. | ||
164 | public delegate void TaintCallback(); | 163 | public delegate void TaintCallback(); |
165 | private struct TaintCallbackEntry | 164 | private struct TaintCallbackEntry |
166 | { | 165 | { |
@@ -176,6 +175,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
176 | private Object _taintLock = new Object(); | 175 | private Object _taintLock = new Object(); |
177 | 176 | ||
178 | // A pointer to an instance if this structure is passed to the C++ code | 177 | // A pointer to an instance if this structure is passed to the C++ code |
178 | // Used to pass basic configuration values to the unmanaged code. | ||
179 | ConfigurationParameters[] m_params; | 179 | ConfigurationParameters[] m_params; |
180 | GCHandle m_paramsHandle; | 180 | GCHandle m_paramsHandle; |
181 | 181 | ||
@@ -189,11 +189,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
189 | private bool m_physicsLoggingEnabled; | 189 | private bool m_physicsLoggingEnabled; |
190 | private string m_physicsLoggingDir; | 190 | private string m_physicsLoggingDir; |
191 | private string m_physicsLoggingPrefix; | 191 | private string m_physicsLoggingPrefix; |
192 | private int m_physicsLoggingFileMinutes; | 192 | private int m_physicsLoggingFileMinutes; |
193 | 193 | // 'true' of the vehicle code is to log lots of details | |
194 | private bool m_vehicleLoggingEnabled; | 194 | public bool VehicleLoggingEnabled { get; private set; } |
195 | public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } } | ||
196 | 195 | ||
196 | #region Construction and Initialization | ||
197 | public BSScene(string identifier) | 197 | public BSScene(string identifier) |
198 | { | 198 | { |
199 | m_initialized = false; | 199 | m_initialized = false; |
@@ -216,6 +216,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
216 | m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; | 216 | m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; |
217 | m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); | 217 | m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); |
218 | 218 | ||
219 | mesher = meshmerizer; | ||
220 | _taintedObjects = new List<TaintCallbackEntry>(); | ||
221 | |||
219 | // Enable very detailed logging. | 222 | // Enable very detailed logging. |
220 | // By creating an empty logger when not logging, the log message invocation code | 223 | // By creating an empty logger when not logging, the log message invocation code |
221 | // can be left in and every call doesn't have to check for null. | 224 | // can be left in and every call doesn't have to check for null. |
@@ -228,11 +231,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
228 | PhysicsLogging = new Logging.LogWriter(); | 231 | PhysicsLogging = new Logging.LogWriter(); |
229 | } | 232 | } |
230 | 233 | ||
231 | // Get the version of the DLL | ||
232 | // TODO: this doesn't work yet. Something wrong with marshaling the returned string. | ||
233 | // BulletSimVersion = BulletSimAPI.GetVersion(); | ||
234 | // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); | ||
235 | |||
236 | // If Debug logging level, enable logging from the unmanaged code | 234 | // If Debug logging level, enable logging from the unmanaged code |
237 | if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) | 235 | if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) |
238 | { | 236 | { |
@@ -245,22 +243,32 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
245 | BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); | 243 | BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); |
246 | } | 244 | } |
247 | 245 | ||
248 | _taintedObjects = new List<TaintCallbackEntry>(); | 246 | // Get the version of the DLL |
249 | 247 | // TODO: this doesn't work yet. Something wrong with marshaling the returned string. | |
250 | mesher = meshmerizer; | 248 | // BulletSimVersion = BulletSimAPI.GetVersion(); |
249 | // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); | ||
251 | 250 | ||
252 | // The bounding box for the simulated world | 251 | // The bounding box for the simulated world. The origin is 0,0,0 unless we're |
252 | // a child in a mega-region. | ||
253 | // Turns out that Bullet really doesn't care about the extents of the simulated | ||
254 | // area. It tracks active objects no matter where they are. | ||
253 | Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f); | 255 | Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f); |
254 | 256 | ||
255 | // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); | 257 | // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); |
256 | m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), | 258 | WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), |
257 | m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), | 259 | m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), |
258 | m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); | 260 | m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); |
259 | 261 | ||
260 | // Initialization to support the transition to a new API which puts most of the logic | 262 | // Initialization to support the transition to a new API which puts most of the logic |
261 | // into the C# code so it is easier to modify and add to. | 263 | // into the C# code so it is easier to modify and add to. |
262 | m_worldSim = new BulletSim(m_worldID, this, BulletSimAPI.GetSimHandle2(m_worldID)); | 264 | World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID)); |
263 | m_constraintCollection = new BSConstraintCollection(World); | 265 | |
266 | Constraints = new BSConstraintCollection(World); | ||
267 | |||
268 | // Note: choose one of the two following lines | ||
269 | // BulletSimAPI.CreateInitialGroundPlaneAndTerrain(WorldID); | ||
270 | TerrainManager = new BSTerrainManager(this); | ||
271 | TerrainManager.CreateInitialGroundPlaneAndTerrain(); | ||
264 | 272 | ||
265 | m_initialized = true; | 273 | m_initialized = true; |
266 | } | 274 | } |
@@ -288,7 +296,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
288 | m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); | 296 | m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); |
289 | m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); | 297 | m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); |
290 | // Very detailed logging for vehicle debugging | 298 | // Very detailed logging for vehicle debugging |
291 | m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); | 299 | VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); |
292 | 300 | ||
293 | // Do any replacements in the parameters | 301 | // Do any replacements in the parameters |
294 | m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); | 302 | m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); |
@@ -323,6 +331,38 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
323 | PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg); | 331 | PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg); |
324 | } | 332 | } |
325 | 333 | ||
334 | public override void Dispose() | ||
335 | { | ||
336 | // m_log.DebugFormat("{0}: Dispose()", LogHeader); | ||
337 | |||
338 | // make sure no stepping happens while we're deleting stuff | ||
339 | m_initialized = false; | ||
340 | |||
341 | TerrainManager.ReleaseGroundPlaneAndTerrain(); | ||
342 | |||
343 | foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects) | ||
344 | { | ||
345 | kvp.Value.Destroy(); | ||
346 | } | ||
347 | PhysObjects.Clear(); | ||
348 | |||
349 | // Now that the prims are all cleaned up, there should be no constraints left | ||
350 | if (Constraints != null) | ||
351 | { | ||
352 | Constraints.Dispose(); | ||
353 | Constraints = null; | ||
354 | } | ||
355 | |||
356 | // Anything left in the unmanaged code should be cleaned out | ||
357 | BulletSimAPI.Shutdown(WorldID); | ||
358 | |||
359 | // Not logging any more | ||
360 | PhysicsLogging.Close(); | ||
361 | } | ||
362 | #endregion // Construction and Initialization | ||
363 | |||
364 | #region Prim and Avatar addition and removal | ||
365 | |||
326 | public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) | 366 | public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) |
327 | { | 367 | { |
328 | m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader); | 368 | m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader); |
@@ -413,6 +453,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
413 | // information call is not needed. | 453 | // information call is not needed. |
414 | public override void AddPhysicsActorTaint(PhysicsActor prim) { } | 454 | public override void AddPhysicsActorTaint(PhysicsActor prim) { } |
415 | 455 | ||
456 | #endregion // Prim and Avatar addition and removal | ||
457 | |||
458 | #region Simulation | ||
416 | // Simulate one timestep | 459 | // Simulate one timestep |
417 | public override float Simulate(float timeStep) | 460 | public override float Simulate(float timeStep) |
418 | { | 461 | { |
@@ -428,7 +471,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
428 | 471 | ||
429 | int simulateStartTime = Util.EnvironmentTickCount(); | 472 | int simulateStartTime = Util.EnvironmentTickCount(); |
430 | 473 | ||
431 | // update the prim states while we know the physics engine is not busy | 474 | // update the prim states while we know the physics engine is not busy |
475 | int numTaints = _taintedObjects.Count; | ||
432 | ProcessTaints(); | 476 | ProcessTaints(); |
433 | 477 | ||
434 | // Some of the prims operate with special vehicle properties | 478 | // Some of the prims operate with special vehicle properties |
@@ -440,14 +484,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
440 | int numSubSteps = 0; | 484 | int numSubSteps = 0; |
441 | try | 485 | try |
442 | { | 486 | { |
443 | numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, | 487 | numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep, |
444 | out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); | 488 | out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); |
445 | DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); | 489 | DetailLog("{0},Simulate,call, nTaints= {1}, substeps={2}, updates={3}, colliders={4}", |
490 | DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); | ||
446 | } | 491 | } |
447 | catch (Exception e) | 492 | catch (Exception e) |
448 | { | 493 | { |
449 | m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e); | 494 | m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}", |
450 | // DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); | 495 | LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e); |
496 | DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}", | ||
497 | DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); | ||
451 | updatedEntityCount = 0; | 498 | updatedEntityCount = 0; |
452 | collidersCount = 0; | 499 | collidersCount = 0; |
453 | } | 500 | } |
@@ -456,7 +503,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
456 | // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in | 503 | // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in |
457 | 504 | ||
458 | // Get a value for 'now' so all the collision and update routines don't have to get their own | 505 | // Get a value for 'now' so all the collision and update routines don't have to get their own |
459 | m_simulationNowTime = Util.EnvironmentTickCount(); | 506 | SimulationNowTime = Util.EnvironmentTickCount(); |
460 | 507 | ||
461 | // If there were collisions, process them by sending the event to the prim. | 508 | // If there were collisions, process them by sending the event to the prim. |
462 | // Collisions must be processed before updates. | 509 | // Collisions must be processed before updates. |
@@ -527,7 +574,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
527 | // Something has collided | 574 | // Something has collided |
528 | private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration) | 575 | private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration) |
529 | { | 576 | { |
530 | if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID) | 577 | if (localID <= TerrainManager.HighestTerrainID) |
531 | { | 578 | { |
532 | return; // don't send collisions to the terrain | 579 | return; // don't send collisions to the terrain |
533 | } | 580 | } |
@@ -539,7 +586,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
539 | BSPhysObject collidee = null; | 586 | BSPhysObject collidee = null; |
540 | 587 | ||
541 | ActorTypes type = ActorTypes.Prim; | 588 | ActorTypes type = ActorTypes.Prim; |
542 | if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID) | 589 | if (collidingWith <= TerrainManager.HighestTerrainID) |
543 | { | 590 | { |
544 | type = ActorTypes.Ground; | 591 | type = ActorTypes.Ground; |
545 | } | 592 | } |
@@ -558,28 +605,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
558 | return; | 605 | return; |
559 | } | 606 | } |
560 | 607 | ||
608 | #endregion // Simulation | ||
609 | |||
561 | public override void GetResults() { } | 610 | public override void GetResults() { } |
562 | 611 | ||
563 | public override void SetTerrain(float[] heightMap) { | 612 | #region Terrain |
564 | m_heightMap = heightMap; | ||
565 | this.TaintedObject("BSScene.SetTerrain", delegate() | ||
566 | { | ||
567 | BulletSimAPI.SetHeightmap(m_worldID, m_heightMap); | ||
568 | }); | ||
569 | } | ||
570 | 613 | ||
571 | // Someday we will have complex terrain with caves and tunnels | 614 | public override void SetTerrain(float[] heightMap) { |
572 | // For the moment, it's flat and convex | 615 | TerrainManager.SetTerrain(heightMap); |
573 | public float GetTerrainHeightAtXYZ(Vector3 loc) | ||
574 | { | ||
575 | return GetTerrainHeightAtXY(loc.X, loc.Y); | ||
576 | } | ||
577 | |||
578 | public float GetTerrainHeightAtXY(float tX, float tY) | ||
579 | { | ||
580 | if (tX < 0 || tX >= Constants.RegionSize || tY < 0 || tY >= Constants.RegionSize) | ||
581 | return 30; | ||
582 | return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)]; | ||
583 | } | 616 | } |
584 | 617 | ||
585 | public override void SetWaterLevel(float baseheight) | 618 | public override void SetWaterLevel(float baseheight) |
@@ -595,35 +628,29 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
595 | public override void DeleteTerrain() | 628 | public override void DeleteTerrain() |
596 | { | 629 | { |
597 | // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); | 630 | // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); |
631 | } | ||
632 | |||
633 | // Although no one seems to check this, I do support combining. | ||
634 | public override bool SupportsCombining() | ||
635 | { | ||
636 | return TerrainManager.SupportsCombining(); | ||
598 | } | 637 | } |
599 | 638 | // This call says I am a child to region zero in a mega-region. 'pScene' is that | |
600 | public override void Dispose() | 639 | // of region zero, 'offset' is my offset from regions zero's origin, and |
601 | { | 640 | // 'extents' is the largest XY that is handled in my region. |
602 | // m_log.DebugFormat("{0}: Dispose()", LogHeader); | 641 | public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) |
603 | 642 | { | |
604 | // make sure no stepping happens while we're deleting stuff | 643 | TerrainManager.Combine(pScene, offset, extents); |
605 | m_initialized = false; | 644 | } |
606 | 645 | ||
607 | foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects) | 646 | // Unhook all the combining that I know about. |
608 | { | 647 | public override void UnCombine(PhysicsScene pScene) |
609 | kvp.Value.Destroy(); | 648 | { |
610 | } | 649 | TerrainManager.UnCombine(pScene); |
611 | PhysObjects.Clear(); | ||
612 | |||
613 | // Now that the prims are all cleaned up, there should be no constraints left | ||
614 | if (m_constraintCollection != null) | ||
615 | { | ||
616 | m_constraintCollection.Dispose(); | ||
617 | m_constraintCollection = null; | ||
618 | } | ||
619 | |||
620 | // Anything left in the unmanaged code should be cleaned out | ||
621 | BulletSimAPI.Shutdown(WorldID); | ||
622 | |||
623 | // Not logging any more | ||
624 | PhysicsLogging.Close(); | ||
625 | } | 650 | } |
626 | 651 | ||
652 | #endregion // Terrain | ||
653 | |||
627 | public override Dictionary<uint, float> GetTopColliders() | 654 | public override Dictionary<uint, float> GetTopColliders() |
628 | { | 655 | { |
629 | return new Dictionary<uint, float>(); | 656 | return new Dictionary<uint, float>(); |
@@ -833,14 +860,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
833 | // no locking because only called when physics engine is not busy | 860 | // no locking because only called when physics engine is not busy |
834 | private void ProcessVehicles(float timeStep) | 861 | private void ProcessVehicles(float timeStep) |
835 | { | 862 | { |
836 | foreach (BSPrim prim in m_vehicles) | 863 | foreach (BSPhysObject pobj in m_vehicles) |
837 | { | 864 | { |
838 | prim.StepVehicle(timeStep); | 865 | pobj.StepVehicle(timeStep); |
839 | } | 866 | } |
840 | } | 867 | } |
841 | #endregion Vehicles | 868 | #endregion Vehicles |
842 | 869 | ||
843 | #region Parameters | 870 | #region INI and command line parameter processing |
844 | 871 | ||
845 | delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); | 872 | delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); |
846 | delegate float ParamGet(BSScene scene); | 873 | delegate float ParamGet(BSScene scene); |
@@ -943,9 +970,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
943 | (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), | 970 | (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), |
944 | new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", | 971 | new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", |
945 | 10000.01f, | 972 | 10000.01f, |
946 | (s,cf,p,v) => { s.m_maximumObjectMass = cf.GetFloat(p, v); }, | 973 | (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); }, |
947 | (s) => { return (float)s.m_maximumObjectMass; }, | 974 | (s) => { return (float)s.MaximumObjectMass; }, |
948 | (s,p,l,v) => { s.m_maximumObjectMass = v; } ), | 975 | (s,p,l,v) => { s.MaximumObjectMass = v; } ), |
949 | 976 | ||
950 | new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", | 977 | new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", |
951 | 2200f, | 978 | 2200f, |
@@ -1207,6 +1234,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1207 | 1234 | ||
1208 | private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; | 1235 | private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; |
1209 | 1236 | ||
1237 | // This creates an array in the correct format for returning the list of | ||
1238 | // parameters. This is used by the 'list' option of the 'physics' command. | ||
1210 | private void BuildParameterTable() | 1239 | private void BuildParameterTable() |
1211 | { | 1240 | { |
1212 | if (SettableParameters.Length < ParameterDefinitions.Length) | 1241 | if (SettableParameters.Length < ParameterDefinitions.Length) |
@@ -1283,7 +1312,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1283 | TaintedObject("BSScene.UpdateParameterSet", delegate() { | 1312 | TaintedObject("BSScene.UpdateParameterSet", delegate() { |
1284 | foreach (uint lID in objectIDs) | 1313 | foreach (uint lID in objectIDs) |
1285 | { | 1314 | { |
1286 | BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval); | 1315 | BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval); |
1287 | } | 1316 | } |
1288 | }); | 1317 | }); |
1289 | break; | 1318 | break; |
@@ -1301,7 +1330,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1301 | string xparm = parm.ToLower(); | 1330 | string xparm = parm.ToLower(); |
1302 | float xval = val; | 1331 | float xval = val; |
1303 | TaintedObject("BSScene.TaintedUpdateParameter", delegate() { | 1332 | TaintedObject("BSScene.TaintedUpdateParameter", delegate() { |
1304 | BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval); | 1333 | BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval); |
1305 | }); | 1334 | }); |
1306 | } | 1335 | } |
1307 | 1336 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs new file mode 100755 index 0000000..28c1940 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | |||
@@ -0,0 +1,307 @@ | |||
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 | */ | ||
27 | using System; | ||
28 | using System.Collections.Generic; | ||
29 | using System.Text; | ||
30 | |||
31 | using OpenSim.Framework; | ||
32 | using OpenSim.Region.Framework; | ||
33 | using OpenSim.Region.CoreModules; | ||
34 | using OpenSim.Region.Physics.Manager; | ||
35 | |||
36 | using Nini.Config; | ||
37 | using log4net; | ||
38 | |||
39 | using OpenMetaverse; | ||
40 | |||
41 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
42 | { | ||
43 | public class BSTerrainManager | ||
44 | { | ||
45 | static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; | ||
46 | |||
47 | BSScene m_physicsScene; | ||
48 | |||
49 | private BulletBody m_groundPlane; | ||
50 | |||
51 | // If doing mega-regions, if we're region zero we will be managing multiple | ||
52 | // region terrains since region zero does the physics for the whole mega-region. | ||
53 | private Dictionary<Vector2, BulletBody> m_terrains; | ||
54 | private Dictionary<Vector2, BulletHeightMapInfo> m_heightMaps; | ||
55 | |||
56 | // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount. | ||
57 | // This is incremented before assigning to new region so it is the last ID allocated. | ||
58 | private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1; | ||
59 | public uint HighestTerrainID { get {return m_terrainCount; } } | ||
60 | |||
61 | // If doing mega-regions, this holds our offset from region zero of | ||
62 | // the mega-regions. "parentScene" points to the PhysicsScene of region zero. | ||
63 | private Vector3 m_worldOffset = Vector3.Zero; | ||
64 | public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); | ||
65 | private PhysicsScene m_parentScene = null; | ||
66 | |||
67 | public BSTerrainManager(BSScene physicsScene) | ||
68 | { | ||
69 | m_physicsScene = physicsScene; | ||
70 | m_terrains = new Dictionary<Vector2,BulletBody>(); | ||
71 | m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>(); | ||
72 | } | ||
73 | |||
74 | // Create the initial instance of terrain and the underlying ground plane. | ||
75 | // The objects are allocated in the unmanaged space and the pointers are tracked | ||
76 | // by the managed code. | ||
77 | // The terrains and the groundPlane are not added to the list of PhysObjects. | ||
78 | // This is called from the initialization routine so we presume it is | ||
79 | // safe to call Bullet in real time. We hope no one is moving around prim yet. | ||
80 | public void CreateInitialGroundPlaneAndTerrain() | ||
81 | { | ||
82 | // The ground plane is here to catch things that are trying to drop to negative infinity | ||
83 | m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, | ||
84 | BulletSimAPI.CreateGroundPlaneBody2(BSScene.GROUNDPLANE_ID, 1f, 0.4f)); | ||
85 | BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); | ||
86 | |||
87 | Vector3 minTerrainCoords = new Vector3(0f, 0f, 24f); | ||
88 | Vector3 maxTerrainCoords = new Vector3(Constants.RegionSize, Constants.RegionSize, 25f); | ||
89 | int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; | ||
90 | float[] initialMap = new float[totalHeights]; | ||
91 | for (int ii = 0; ii < totalHeights; ii++) | ||
92 | { | ||
93 | initialMap[ii] = 25f; | ||
94 | } | ||
95 | CreateNewTerrainSegment(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords); | ||
96 | } | ||
97 | |||
98 | public void ReleaseGroundPlaneAndTerrain() | ||
99 | { | ||
100 | if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr)) | ||
101 | { | ||
102 | BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); | ||
103 | } | ||
104 | m_groundPlane.Ptr = IntPtr.Zero; | ||
105 | |||
106 | foreach (KeyValuePair<Vector2, BulletBody> kvp in m_terrains) | ||
107 | { | ||
108 | if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.Ptr)) | ||
109 | { | ||
110 | BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.Ptr); | ||
111 | BulletSimAPI.ReleaseHeightmapInfo2(m_heightMaps[kvp.Key].Ptr); | ||
112 | } | ||
113 | } | ||
114 | m_terrains.Clear(); | ||
115 | m_heightMaps.Clear(); | ||
116 | } | ||
117 | |||
118 | // Create a new terrain description. This is used for mega-regions where | ||
119 | // the children of region zero give region zero all of the terrain | ||
120 | // segments since region zero does all the physics for the mega-region. | ||
121 | // Call at taint time!! | ||
122 | public void CreateNewTerrainSegment(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) | ||
123 | { | ||
124 | // The Z coordinates are recalculated to be the min and max height of the terrain | ||
125 | // itself. The caller may have passed us the real region extent. | ||
126 | float minZ = float.MaxValue; | ||
127 | float maxZ = float.MinValue; | ||
128 | int hSize = heightMap.Length; | ||
129 | for (int ii = 0; ii < hSize; ii++) | ||
130 | { | ||
131 | minZ = heightMap[ii] < minZ ? heightMap[ii] : minZ; | ||
132 | maxZ = heightMap[ii] > maxZ ? heightMap[ii] : maxZ; | ||
133 | } | ||
134 | minCoords.Z = minZ; | ||
135 | maxCoords.Z = maxZ; | ||
136 | // If the terrain is flat, make a difference so we get a good bounding box | ||
137 | if (minZ == maxZ) | ||
138 | minZ -= 0.2f; | ||
139 | Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y); | ||
140 | |||
141 | // Create the heightmap data structure in the unmanaged space | ||
142 | BulletHeightMapInfo mapInfo = new BulletHeightMapInfo( | ||
143 | BulletSimAPI.CreateHeightmap2(minCoords, maxCoords, heightMap), heightMap); | ||
144 | mapInfo.terrainRegionBase = terrainRegionBase; | ||
145 | mapInfo.maxRegionExtent = maxCoords; | ||
146 | mapInfo.minZ = minZ; | ||
147 | mapInfo.maxZ = maxZ; | ||
148 | mapInfo.sizeX = maxCoords.X - minCoords.X; | ||
149 | mapInfo.sizeY = maxCoords.Y - minCoords.Y; | ||
150 | |||
151 | DetailLog("{0},BSScene.CreateNewTerrainSegment,call,minZ={1},maxZ={2},hMapPtr={3},minC={4},maxC={5}", | ||
152 | BSScene.DetailLogZero, minZ, maxZ, mapInfo.Ptr, minCoords, maxCoords); | ||
153 | // Create the terrain body from that heightmap | ||
154 | BulletBody terrainBody = new BulletBody(id, BulletSimAPI.CreateTerrainBody2(id, mapInfo.Ptr, 0.01f)); | ||
155 | |||
156 | BulletSimAPI.SetFriction2(terrainBody.Ptr, m_physicsScene.Params.terrainFriction); | ||
157 | BulletSimAPI.SetHitFraction2(terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction); | ||
158 | BulletSimAPI.SetRestitution2(terrainBody.Ptr, m_physicsScene.Params.terrainRestitution); | ||
159 | BulletSimAPI.SetCollisionFlags2(terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); | ||
160 | BulletSimAPI.Activate2(terrainBody.Ptr, true); | ||
161 | |||
162 | // Add the new terrain to the dynamics world | ||
163 | BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, terrainBody.Ptr); | ||
164 | BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, terrainBody.Ptr); | ||
165 | |||
166 | |||
167 | // Add the created terrain to the management set. If we are doing mega-regions, | ||
168 | // the terrains of our children will be added. | ||
169 | m_terrains.Add(terrainRegionBase, terrainBody); | ||
170 | m_heightMaps.Add(terrainRegionBase, mapInfo); | ||
171 | } | ||
172 | |||
173 | public void SetTerrain(float[] heightMap) { | ||
174 | if (m_worldOffset != Vector3.Zero && m_parentScene != null) | ||
175 | { | ||
176 | // If doing the mega-prim stuff and we are the child of the zero region, | ||
177 | // the terrain is really added to our parent | ||
178 | if (m_parentScene is BSScene) | ||
179 | { | ||
180 | ((BSScene)m_parentScene).TerrainManager.SetTerrain(heightMap, m_worldOffset); | ||
181 | } | ||
182 | } | ||
183 | else | ||
184 | { | ||
185 | // if not doing the mega-prim thing, just change the terrain | ||
186 | SetTerrain(heightMap, m_worldOffset); | ||
187 | } | ||
188 | } | ||
189 | |||
190 | private void SetTerrain(float[] heightMap, Vector3 tOffset) | ||
191 | { | ||
192 | float minZ = float.MaxValue; | ||
193 | float maxZ = float.MinValue; | ||
194 | |||
195 | // Copy heightMap local and compute some statistics. | ||
196 | // Not really sure if we need to do this deep copy but, given | ||
197 | // the magic that happens to make the closure for taint | ||
198 | // below, I don't want there to be any problem with sharing | ||
199 | // locations of there are multiple calls to this routine | ||
200 | // within one tick. | ||
201 | int heightMapSize = heightMap.Length; | ||
202 | float[] localHeightMap = new float[heightMapSize]; | ||
203 | for (int ii = 0; ii < heightMapSize; ii++) | ||
204 | { | ||
205 | float height = heightMap[ii]; | ||
206 | if (height < minZ) minZ = height; | ||
207 | if (height > maxZ) maxZ = height; | ||
208 | localHeightMap[ii] = height; | ||
209 | } | ||
210 | |||
211 | Vector2 terrainRegionBase = new Vector2(tOffset.X, tOffset.Y); | ||
212 | BulletHeightMapInfo mapInfo; | ||
213 | if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo)) | ||
214 | { | ||
215 | // If this is terrain we know about, it's easy to update | ||
216 | mapInfo.heightMap = localHeightMap; | ||
217 | m_physicsScene.TaintedObject("BSScene.SetTerrain:UpdateExisting", delegate() | ||
218 | { | ||
219 | DetailLog("{0},SetTerrain:UpdateExisting,baseX={1},baseY={2},minZ={3},maxZ={4}", | ||
220 | BSScene.DetailLogZero, tOffset.X, tOffset.Y, minZ, maxZ); | ||
221 | BulletSimAPI.UpdateHeightMap2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.heightMap); | ||
222 | }); | ||
223 | } | ||
224 | else | ||
225 | { | ||
226 | // Our mega-prim child is giving us a new terrain to add to the phys world | ||
227 | uint newTerrainID = ++m_terrainCount; | ||
228 | |||
229 | Vector3 minCoords = tOffset; | ||
230 | minCoords.Z = minZ; | ||
231 | Vector3 maxCoords = new Vector3(tOffset.X + Constants.RegionSize, | ||
232 | tOffset.Y + Constants.RegionSize, | ||
233 | maxZ); | ||
234 | m_physicsScene.TaintedObject("BSScene.SetTerrain:NewTerrain", delegate() | ||
235 | { | ||
236 | DetailLog("{0},SetTerrain:NewTerrain,baseX={1},baseY={2}", BSScene.DetailLogZero, tOffset.X, tOffset.Y); | ||
237 | CreateNewTerrainSegment(newTerrainID, heightMap, minCoords, maxCoords); | ||
238 | }); | ||
239 | } | ||
240 | } | ||
241 | |||
242 | // Someday we will have complex terrain with caves and tunnels | ||
243 | // For the moment, it's flat and convex | ||
244 | public float GetTerrainHeightAtXYZ(Vector3 loc) | ||
245 | { | ||
246 | return GetTerrainHeightAtXY(loc.X, loc.Y); | ||
247 | } | ||
248 | |||
249 | // Given an X and Y, find the height of the terrain. | ||
250 | // Since we could be handling multiple terrains for a mega-region, | ||
251 | // the base of the region is calcuated assuming all regions are | ||
252 | // the same size and that is the default. | ||
253 | // Once the heightMapInfo is found, we have all the information to | ||
254 | // compute the offset into the array. | ||
255 | public float GetTerrainHeightAtXY(float tX, float tY) | ||
256 | { | ||
257 | float ret = 30f; | ||
258 | |||
259 | int offsetX = ((int)(tX / (int)Constants.RegionSize)) * (int)Constants.RegionSize; | ||
260 | int offsetY = ((int)(tY / (int)Constants.RegionSize)) * (int)Constants.RegionSize; | ||
261 | Vector2 terrainBaseXY = new Vector2(offsetX, offsetY); | ||
262 | |||
263 | BulletHeightMapInfo mapInfo; | ||
264 | if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo)) | ||
265 | { | ||
266 | float regionX = tX - offsetX; | ||
267 | float regionY = tY - offsetY; | ||
268 | regionX = regionX > mapInfo.sizeX ? 0 : regionX; | ||
269 | regionY = regionY > mapInfo.sizeY ? 0 : regionY; | ||
270 | ret = mapInfo.heightMap[(int)(regionX * mapInfo.sizeX + regionY)]; | ||
271 | } | ||
272 | else | ||
273 | { | ||
274 | m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: x={1}, y={2}", | ||
275 | LogHeader, tX, tY); | ||
276 | } | ||
277 | return ret; | ||
278 | } | ||
279 | |||
280 | // Although no one seems to check this, I do support combining. | ||
281 | public bool SupportsCombining() | ||
282 | { | ||
283 | return true; | ||
284 | } | ||
285 | // This call says I am a child to region zero in a mega-region. 'pScene' is that | ||
286 | // of region zero, 'offset' is my offset from regions zero's origin, and | ||
287 | // 'extents' is the largest XY that is handled in my region. | ||
288 | public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) | ||
289 | { | ||
290 | m_worldOffset = offset; | ||
291 | WorldExtents = new Vector2(extents.X, extents.Y); | ||
292 | m_parentScene = pScene; | ||
293 | } | ||
294 | |||
295 | // Unhook all the combining that I know about. | ||
296 | public void UnCombine(PhysicsScene pScene) | ||
297 | { | ||
298 | // Just like ODE, for the moment a NOP | ||
299 | } | ||
300 | |||
301 | |||
302 | private void DetailLog(string msg, params Object[] args) | ||
303 | { | ||
304 | m_physicsScene.PhysicsLogging.Write(msg, args); | ||
305 | } | ||
306 | } | ||
307 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index dab2420..3b319fb 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -33,6 +33,9 @@ using OpenMetaverse; | |||
33 | namespace OpenSim.Region.Physics.BulletSPlugin { | 33 | namespace OpenSim.Region.Physics.BulletSPlugin { |
34 | 34 | ||
35 | // Classes to allow some type checking for the API | 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 | ||
36 | public struct BulletSim | 39 | public struct BulletSim |
37 | { | 40 | { |
38 | public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; } | 41 | public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; } |
@@ -42,6 +45,7 @@ public struct BulletSim | |||
42 | public IntPtr Ptr; | 45 | public IntPtr Ptr; |
43 | } | 46 | } |
44 | 47 | ||
48 | // An allocated Bullet btRigidBody | ||
45 | public struct BulletBody | 49 | public struct BulletBody |
46 | { | 50 | { |
47 | public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } | 51 | public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } |
@@ -49,12 +53,35 @@ public struct BulletBody | |||
49 | public uint ID; | 53 | public uint ID; |
50 | } | 54 | } |
51 | 55 | ||
56 | // An allocated Bullet btConstraint | ||
52 | public struct BulletConstraint | 57 | public struct BulletConstraint |
53 | { | 58 | { |
54 | public BulletConstraint(IntPtr xx) { Ptr = xx; } | 59 | public BulletConstraint(IntPtr xx) { Ptr = xx; } |
55 | public IntPtr Ptr; | 60 | public IntPtr Ptr; |
56 | } | 61 | } |
57 | 62 | ||
63 | // An allocated HeightMapThing which hold various heightmap info | ||
64 | // Made a class rather than a struct so there would be only one | ||
65 | // instance of this and C# will pass around pointers rather | ||
66 | // than making copies. | ||
67 | public class BulletHeightMapInfo | ||
68 | { | ||
69 | public BulletHeightMapInfo(IntPtr xx, float[] hm) { | ||
70 | Ptr = xx; | ||
71 | heightMap = hm; | ||
72 | terrainRegionBase = new Vector2(0f, 0f); | ||
73 | maxRegionExtent = new Vector3(100f, 100f, 25f); | ||
74 | minZ = maxZ = 0f; | ||
75 | sizeX = sizeY = 256f; | ||
76 | } | ||
77 | public IntPtr Ptr; | ||
78 | public float[] heightMap; | ||
79 | public Vector2 terrainRegionBase; | ||
80 | public Vector3 maxRegionExtent; | ||
81 | public float sizeX, sizeY; | ||
82 | public float minZ, maxZ; | ||
83 | } | ||
84 | |||
58 | // =============================================================================== | 85 | // =============================================================================== |
59 | [StructLayout(LayoutKind.Sequential)] | 86 | [StructLayout(LayoutKind.Sequential)] |
60 | public struct ConvexHull | 87 | public struct ConvexHull |
@@ -231,6 +258,9 @@ public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, | |||
231 | int maxUpdates, IntPtr updateArray); | 258 | int maxUpdates, IntPtr updateArray); |
232 | 259 | ||
233 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 260 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
261 | public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID); | ||
262 | |||
263 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
234 | public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); | 264 | public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); |
235 | 265 | ||
236 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 266 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -414,12 +444,23 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); | |||
414 | 444 | ||
415 | // ===================================================================================== | 445 | // ===================================================================================== |
416 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 446 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
417 | public static extern IntPtr CreateGroundPlaneBody2(uint id, Vector3 center, float collisionMargin); | 447 | public static extern IntPtr CreateGroundPlaneBody2(uint id, float height, float collisionMargin); |
418 | 448 | ||
419 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 449 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
420 | public static extern IntPtr CreateTerrainBody2(uint id, | 450 | public static extern IntPtr CreateTerrainBody2(uint id, |
421 | Vector3 minCoords, Vector3 maxCoords, float collisionMargin, | 451 | IntPtr heightMapInfo, |
422 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); | 452 | float collisionMargin); |
453 | |||
454 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
455 | public static extern IntPtr CreateHeightmap2(Vector3 minCoords, Vector3 maxCoords, | ||
456 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); | ||
457 | |||
458 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
459 | public static extern bool ReleaseHeightmapInfo2(IntPtr heightMapInfo); | ||
460 | |||
461 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
462 | public static extern void UpdateHeightMap2(IntPtr world, IntPtr heightMapInfo, | ||
463 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); | ||
423 | 464 | ||
424 | // ===================================================================================== | 465 | // ===================================================================================== |
425 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 466 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -473,11 +514,16 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams | |||
473 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 514 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
474 | public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); | 515 | public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); |
475 | 516 | ||
517 | // ===================================================================================== | ||
476 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 518 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
477 | public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj); | 519 | public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); |
478 | 520 | ||
479 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 521 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
480 | public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj); | 522 | public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); |
523 | |||
524 | // ===================================================================================== | ||
525 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
526 | public static extern void Activate2(IntPtr obj, bool forceActivation); | ||
481 | 527 | ||
482 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 528 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
483 | public static extern Vector3 GetPosition2(IntPtr obj); | 529 | public static extern Vector3 GetPosition2(IntPtr obj); |
@@ -522,6 +568,9 @@ public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); | |||
522 | public static extern bool SetFriction2(IntPtr obj, float val); | 568 | public static extern bool SetFriction2(IntPtr obj, float val); |
523 | 569 | ||
524 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 570 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
571 | public static extern bool SetHitFraction2(IntPtr obj, float val); | ||
572 | |||
573 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
525 | public static extern bool SetRestitution2(IntPtr obj, float val); | 574 | public static extern bool SetRestitution2(IntPtr obj, float val); |
526 | 575 | ||
527 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 576 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -564,7 +613,7 @@ public static extern bool SetMargin2(IntPtr obj, float val); | |||
564 | public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); | 613 | public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); |
565 | 614 | ||
566 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 615 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
567 | public static extern bool DestroyObject2(IntPtr world, uint id); | 616 | public static extern bool DestroyObject2(IntPtr world, IntPtr obj); |
568 | 617 | ||
569 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 618 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
570 | public static extern void DumpPhysicsStatistics2(IntPtr sim); | 619 | public static extern void DumpPhysicsStatistics2(IntPtr sim); |