diff options
author | Robert Adams | 2012-09-19 08:21:29 -0700 |
---|---|---|
committer | Robert Adams | 2012-09-27 22:01:21 -0700 |
commit | a27e4ce6cbfb0a2e852624fd4d81121ca829f85c (patch) | |
tree | cd467ddf5dcc8a7109eef5d82f1929c1b5bf77b8 /OpenSim/Region/Physics/BulletSPlugin | |
parent | BulletSim: Convert BSCharacter to use common BSPhysObject code and variables. (diff) | |
download | opensim-SC_OLD-a27e4ce6cbfb0a2e852624fd4d81121ca829f85c.zip opensim-SC_OLD-a27e4ce6cbfb0a2e852624fd4d81121ca829f85c.tar.gz opensim-SC_OLD-a27e4ce6cbfb0a2e852624fd4d81121ca829f85c.tar.bz2 opensim-SC_OLD-a27e4ce6cbfb0a2e852624fd4d81121ca829f85c.tar.xz |
BulletSim: add class and infrastructure for shape and object
tracking in the C# code. Needed for the changing body type
(to and from GhostObjects) for volumeDetect.
Diffstat (limited to '')
5 files changed, 192 insertions, 39 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4f10d46..4d17e6c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -474,12 +474,13 @@ public sealed class BSPrim : BSPhysObject | |||
474 | */ | 474 | */ |
475 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); | 475 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); |
476 | 476 | ||
477 | // Set up the object physicalness (does gravity and collisions move this object) | ||
478 | MakeDynamic(IsStatic); | ||
479 | |||
480 | // Make solid or not (do things bounce off or pass through this object) | 477 | // Make solid or not (do things bounce off or pass through this object) |
478 | // This is done first because it can change the collisionObject type. | ||
481 | MakeSolid(IsSolid); | 479 | MakeSolid(IsSolid); |
482 | 480 | ||
481 | // Set up the object physicalness (does gravity and collisions move this object) | ||
482 | MakeDynamic(IsStatic); | ||
483 | |||
483 | // Arrange for collisions events if the simulator wants them | 484 | // Arrange for collisions events if the simulator wants them |
484 | EnableCollisions(SubscribedEvents()); | 485 | EnableCollisions(SubscribedEvents()); |
485 | 486 | ||
@@ -554,17 +555,51 @@ public sealed class BSPrim : BSPhysObject | |||
554 | } | 555 | } |
555 | 556 | ||
556 | // "Making solid" means that other object will not pass through this object. | 557 | // "Making solid" means that other object will not pass through this object. |
558 | // To make transparent, we create a Bullet ghost object. | ||
559 | // Note: This expects to be called from the UpdatePhysicalParameters() routine as | ||
560 | // the functions after this one set up the state of a possibly newly created collision body. | ||
557 | private void MakeSolid(bool makeSolid) | 561 | private void MakeSolid(bool makeSolid) |
558 | { | 562 | { |
563 | CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.Ptr); | ||
564 | /* | ||
559 | if (makeSolid) | 565 | if (makeSolid) |
560 | { | 566 | { |
561 | // Easy in Bullet -- just remove the object flag that controls collision response | 567 | if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0) |
562 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); | 568 | { |
569 | // Solid things are made out of rigid bodies. Remove this old body from the world | ||
570 | // and use this shape in a new rigid body. | ||
571 | BulletBody oldBody = BSBody; | ||
572 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); | ||
573 | BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); | ||
574 | BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation)); | ||
575 | BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr); | ||
576 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); | ||
577 | } | ||
563 | } | 578 | } |
564 | else | 579 | else |
565 | { | 580 | { |
566 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); | 581 | if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0) |
582 | { | ||
583 | // Non-solid things are made out of ghost objects. Remove this old body from the world | ||
584 | // and use this shape in a new rigid body. | ||
585 | BulletBody oldBody = BSBody; | ||
586 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); | ||
587 | BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); | ||
588 | BSBody = new BulletBody(LocalID, | ||
589 | BulletSimAPI.CreateGhostFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation)); | ||
590 | if (BSBody.Ptr == IntPtr.Zero) | ||
591 | { | ||
592 | m_log.ErrorFormat("{0} BSPrim.MakeSolid: failed creation of ghost object. LocalID=[1}", LogHeader, LocalID); | ||
593 | BSBody = oldBody; | ||
594 | } | ||
595 | else | ||
596 | { | ||
597 | BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr); | ||
598 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); | ||
599 | } | ||
600 | } | ||
567 | } | 601 | } |
602 | */ | ||
568 | } | 603 | } |
569 | 604 | ||
570 | // Turn on or off the flag controlling whether collision events are returned to the simulator. | 605 | // Turn on or off the flag controlling whether collision events are returned to the simulator. |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index dabced5..76da42d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -73,8 +73,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
73 | 73 | ||
74 | public string BulletSimVersion = "?"; | 74 | public string BulletSimVersion = "?"; |
75 | 75 | ||
76 | public Dictionary<uint, BSPhysObject> PhysObjects = new Dictionary<uint, BSPhysObject>(); | 76 | public Dictionary<uint, BSPhysObject> PhysObjects; |
77 | public BSShapeCollection Shapes; | ||
77 | 78 | ||
79 | // Keeping track of the objects with collisions so we can report begin and end of a collision | ||
78 | public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>(); | 80 | public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>(); |
79 | public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>(); | 81 | public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>(); |
80 | // Keep track of all the avatars so we can send them a collision event | 82 | // Keep track of all the avatars so we can send them a collision event |
@@ -203,6 +205,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
203 | 205 | ||
204 | public override void Initialise(IMesher meshmerizer, IConfigSource config) | 206 | public override void Initialise(IMesher meshmerizer, IConfigSource config) |
205 | { | 207 | { |
208 | mesher = meshmerizer; | ||
209 | _taintedObjects = new List<TaintCallbackEntry>(); | ||
210 | PhysObjects = new Dictionary<uint, BSPhysObject>(); | ||
211 | Shapes = new BSShapeCollection(this); | ||
212 | |||
206 | // Allocate pinned memory to pass parameters. | 213 | // Allocate pinned memory to pass parameters. |
207 | m_params = new ConfigurationParameters[1]; | 214 | m_params = new ConfigurationParameters[1]; |
208 | m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); | 215 | m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); |
@@ -216,12 +223,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
216 | m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; | 223 | m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; |
217 | m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); | 224 | m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); |
218 | 225 | ||
219 | mesher = meshmerizer; | ||
220 | _taintedObjects = new List<TaintCallbackEntry>(); | ||
221 | |||
222 | // Enable very detailed logging. | 226 | // Enable very detailed logging. |
223 | // By creating an empty logger when not logging, the log message invocation code | 227 | // By creating an empty logger when not logging, the log message invocation code |
224 | // can be left in and every call doesn't have to check for null. | 228 | // can be left in and every call doesn't have to check for null. |
225 | if (m_physicsLoggingEnabled) | 229 | if (m_physicsLoggingEnabled) |
226 | { | 230 | { |
227 | PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); | 231 | PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); |
@@ -252,7 +256,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
252 | // a child in a mega-region. | 256 | // a child in a mega-region. |
253 | // Turns out that Bullet really doesn't care about the extents of the simulated | 257 | // 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. | 258 | // area. It tracks active objects no matter where they are. |
255 | Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f); | 259 | Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); |
256 | 260 | ||
257 | // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); | 261 | // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); |
258 | WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), | 262 | WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs new file mode 100755 index 0000000..eb4b2ad --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | |||
@@ -0,0 +1,70 @@ | |||
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 | using OMV = OpenMetaverse; | ||
31 | |||
32 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
33 | { | ||
34 | public class BSShapeCollection : IDisposable | ||
35 | { | ||
36 | protected BSScene PhysicsScene { get; set; } | ||
37 | |||
38 | public BSShapeCollection(BSScene physScene) | ||
39 | { | ||
40 | PhysicsScene = physScene; | ||
41 | } | ||
42 | |||
43 | public void Dispose() | ||
44 | { | ||
45 | } | ||
46 | |||
47 | // Track another user of a body | ||
48 | public void ReferenceBody(BulletBody shape) | ||
49 | { | ||
50 | } | ||
51 | |||
52 | // Release the usage of a body | ||
53 | public void DereferenceBody(BulletBody shape) | ||
54 | { | ||
55 | } | ||
56 | |||
57 | // Track another user of the shape | ||
58 | public void ReferenceShape(BulletShape shape) | ||
59 | { | ||
60 | } | ||
61 | |||
62 | // Release the usage of a shape | ||
63 | public void DereferenceShape(BulletShape shape) | ||
64 | { | ||
65 | } | ||
66 | |||
67 | |||
68 | |||
69 | } | ||
70 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index c113db1..fb802e4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | |||
@@ -107,7 +107,9 @@ public class BSTerrainManager | |||
107 | public void CreateInitialGroundPlaneAndTerrain() | 107 | public void CreateInitialGroundPlaneAndTerrain() |
108 | { | 108 | { |
109 | // The ground plane is here to catch things that are trying to drop to negative infinity | 109 | // The ground plane is here to catch things that are trying to drop to negative infinity |
110 | BulletShape groundPlaneShape = new BulletShape(BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN)); | 110 | BulletShape groundPlaneShape = new BulletShape( |
111 | BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN), | ||
112 | ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE); | ||
111 | m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, | 113 | m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, |
112 | BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity)); | 114 | BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity)); |
113 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr); | 115 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr); |
@@ -297,7 +299,8 @@ public class BSTerrainManager | |||
297 | centerPos.Z = minZ + ((maxZ - minZ) / 2f); | 299 | centerPos.Z = minZ + ((maxZ - minZ) / 2f); |
298 | 300 | ||
299 | // Create the terrain shape from the mapInfo | 301 | // Create the terrain shape from the mapInfo |
300 | mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr)); | 302 | mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), |
303 | ShapeData.PhysicsShapeType.SHAPE_TERRAIN); | ||
301 | 304 | ||
302 | mapInfo.terrainBody = new BulletBody(mapInfo.ID, | 305 | mapInfo.terrainBody = new BulletBody(mapInfo.ID, |
303 | BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.Ptr, | 306 | BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.Ptr, |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 4d2d962..52c8a24 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -38,31 +38,54 @@ namespace OpenSim.Region.Physics.BulletSPlugin { | |||
38 | // The physics engine controller class created at initialization | 38 | // The physics engine controller class created at initialization |
39 | public struct BulletSim | 39 | public struct BulletSim |
40 | { | 40 | { |
41 | public BulletSim(uint worldId, BSScene bss, IntPtr xx) { worldID = worldId; scene = bss; Ptr = xx; } | 41 | public BulletSim(uint worldId, BSScene bss, IntPtr xx) |
42 | { | ||
43 | worldID = worldId; scene = bss; Ptr = xx; | ||
44 | } | ||
42 | public uint worldID; | 45 | public uint worldID; |
43 | // The scene is only in here so very low level routines have a handle to print debug/error messages | 46 | // The scene is only in here so very low level routines have a handle to print debug/error messages |
44 | public BSScene scene; | 47 | public BSScene scene; |
45 | public IntPtr Ptr; | 48 | public IntPtr Ptr; |
46 | } | 49 | } |
47 | 50 | ||
48 | public struct BulletShape | 51 | // An allocated Bullet btRigidBody |
52 | public struct BulletBody | ||
49 | { | 53 | { |
50 | public BulletShape(IntPtr xx) { Ptr = xx; } | 54 | public BulletBody(uint id, IntPtr xx) |
55 | { | ||
56 | ID = id; | ||
57 | Ptr = xx; | ||
58 | } | ||
51 | public IntPtr Ptr; | 59 | public IntPtr Ptr; |
60 | public uint ID; | ||
52 | } | 61 | } |
53 | 62 | ||
54 | // An allocated Bullet btRigidBody | 63 | public struct BulletShape |
55 | public struct BulletBody | ||
56 | { | 64 | { |
57 | public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } | 65 | public BulletShape(IntPtr xx) |
66 | { | ||
67 | Ptr = xx; | ||
68 | type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; | ||
69 | hashKey = 0; | ||
70 | } | ||
71 | public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) | ||
72 | { | ||
73 | Ptr = xx; | ||
74 | type = typ; | ||
75 | hashKey = 0; | ||
76 | } | ||
58 | public IntPtr Ptr; | 77 | public IntPtr Ptr; |
59 | public uint ID; | 78 | public ShapeData.PhysicsShapeType type; |
79 | public ulong hashKey; | ||
60 | } | 80 | } |
61 | 81 | ||
62 | // An allocated Bullet btConstraint | 82 | // An allocated Bullet btConstraint |
63 | public struct BulletConstraint | 83 | public struct BulletConstraint |
64 | { | 84 | { |
65 | public BulletConstraint(IntPtr xx) { Ptr = xx; } | 85 | public BulletConstraint(IntPtr xx) |
86 | { | ||
87 | Ptr = xx; | ||
88 | } | ||
66 | public IntPtr Ptr; | 89 | public IntPtr Ptr; |
67 | } | 90 | } |
68 | 91 | ||
@@ -96,14 +119,14 @@ public class BulletHeightMapInfo | |||
96 | 119 | ||
97 | // =============================================================================== | 120 | // =============================================================================== |
98 | [StructLayout(LayoutKind.Sequential)] | 121 | [StructLayout(LayoutKind.Sequential)] |
99 | public struct ConvexHull | 122 | public struct ConvexHull |
100 | { | 123 | { |
101 | Vector3 Offset; | 124 | Vector3 Offset; |
102 | int VertexCount; | 125 | int VertexCount; |
103 | Vector3[] Vertices; | 126 | Vector3[] Vertices; |
104 | } | 127 | } |
105 | [StructLayout(LayoutKind.Sequential)] | 128 | [StructLayout(LayoutKind.Sequential)] |
106 | public struct ShapeData | 129 | public struct ShapeData |
107 | { | 130 | { |
108 | public enum PhysicsShapeType | 131 | public enum PhysicsShapeType |
109 | { | 132 | { |
@@ -114,7 +137,9 @@ public struct ShapeData | |||
114 | SHAPE_CYLINDER = 4, | 137 | SHAPE_CYLINDER = 4, |
115 | SHAPE_SPHERE = 5, | 138 | SHAPE_SPHERE = 5, |
116 | SHAPE_MESH = 6, | 139 | SHAPE_MESH = 6, |
117 | SHAPE_HULL = 7 | 140 | SHAPE_HULL = 7, |
141 | SHAPE_GROUNDPLANE = 8, | ||
142 | SHAPE_TERRAIN = 9, | ||
118 | }; | 143 | }; |
119 | public uint ID; | 144 | public uint ID; |
120 | public PhysicsShapeType Type; | 145 | public PhysicsShapeType Type; |
@@ -136,7 +161,7 @@ public struct ShapeData | |||
136 | public const float numericFalse = 0f; | 161 | public const float numericFalse = 0f; |
137 | } | 162 | } |
138 | [StructLayout(LayoutKind.Sequential)] | 163 | [StructLayout(LayoutKind.Sequential)] |
139 | public struct SweepHit | 164 | public struct SweepHit |
140 | { | 165 | { |
141 | public uint ID; | 166 | public uint ID; |
142 | public float Fraction; | 167 | public float Fraction; |
@@ -227,7 +252,17 @@ public enum ActivationState : uint | |||
227 | ISLAND_SLEEPING, | 252 | ISLAND_SLEEPING, |
228 | WANTS_DEACTIVATION, | 253 | WANTS_DEACTIVATION, |
229 | DISABLE_DEACTIVATION, | 254 | DISABLE_DEACTIVATION, |
230 | DISABLE_SIMULATION | 255 | DISABLE_SIMULATION, |
256 | } | ||
257 | |||
258 | public enum CollisionObjectTypes : int | ||
259 | { | ||
260 | CO_COLLISION_OBJECT = 1 << 0, | ||
261 | CO_RIGID_BODY = 1 << 1, | ||
262 | CO_GHOST_OBJECT = 1 << 2, | ||
263 | CO_SOFT_BODY = 1 << 3, | ||
264 | CO_HF_FLUID = 1 << 4, | ||
265 | CO_USER_TYPE = 1 << 5, | ||
231 | } | 266 | } |
232 | 267 | ||
233 | // Values used by Bullet and BulletSim to control object properties. | 268 | // Values used by Bullet and BulletSim to control object properties. |
@@ -313,8 +348,8 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg | |||
313 | public static extern string GetVersion(); | 348 | public static extern string GetVersion(); |
314 | 349 | ||
315 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 350 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
316 | public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, | 351 | public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, |
317 | int maxCollisions, IntPtr collisionArray, | 352 | int maxCollisions, IntPtr collisionArray, |
318 | int maxUpdates, IntPtr updateArray, | 353 | int maxUpdates, IntPtr updateArray, |
319 | DebugLogCallback logRoutine); | 354 | DebugLogCallback logRoutine); |
320 | 355 | ||
@@ -333,19 +368,19 @@ public static extern bool UpdateParameter(uint worldID, uint localID, | |||
333 | 368 | ||
334 | // =============================================================================== | 369 | // =============================================================================== |
335 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 370 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
336 | public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, | 371 | public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, |
337 | out int updatedEntityCount, | 372 | out int updatedEntityCount, |
338 | out IntPtr updatedEntitiesPtr, | 373 | out IntPtr updatedEntitiesPtr, |
339 | out int collidersCount, | 374 | out int collidersCount, |
340 | out IntPtr collidersPtr); | 375 | out IntPtr collidersPtr); |
341 | 376 | ||
342 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 377 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
343 | public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, | 378 | public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, |
344 | int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls | 379 | int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls |
345 | ); | 380 | ); |
346 | 381 | ||
347 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 382 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
348 | public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, | 383 | public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, |
349 | int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, | 384 | int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, |
350 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices | 385 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices |
351 | ); | 386 | ); |
@@ -459,7 +494,7 @@ public static extern void Shutdown2(IntPtr sim); | |||
459 | 494 | ||
460 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 495 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
461 | public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, | 496 | public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, |
462 | out int updatedEntityCount, | 497 | out int updatedEntityCount, |
463 | out IntPtr updatedEntitiesPtr, | 498 | out IntPtr updatedEntitiesPtr, |
464 | out int collidersCount, | 499 | out int collidersCount, |
465 | out IntPtr collidersPtr); | 500 | out IntPtr collidersPtr); |
@@ -470,8 +505,8 @@ public static extern bool PushUpdate2(IntPtr obj); | |||
470 | // ===================================================================================== | 505 | // ===================================================================================== |
471 | // Mesh, hull, shape and body creation helper routines | 506 | // Mesh, hull, shape and body creation helper routines |
472 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 507 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
473 | public static extern IntPtr CreateMeshShape2(IntPtr world, | 508 | public static extern IntPtr CreateMeshShape2(IntPtr world, |
474 | int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, | 509 | int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, |
475 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); | 510 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); |
476 | 511 | ||
477 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 512 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -504,12 +539,18 @@ public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape | |||
504 | public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); | 539 | public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); |
505 | 540 | ||
506 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 541 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
542 | public static extern int GetBodyType2(IntPtr obj); | ||
543 | |||
544 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
507 | public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); | 545 | public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); |
508 | 546 | ||
509 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 547 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
510 | public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); | 548 | public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); |
511 | 549 | ||
512 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 550 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
551 | public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); | ||
552 | |||
553 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
513 | public static extern IntPtr AllocateBodyInfo2(IntPtr obj); | 554 | public static extern IntPtr AllocateBodyInfo2(IntPtr obj); |
514 | 555 | ||
515 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 556 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -521,11 +562,11 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj); | |||
521 | // ===================================================================================== | 562 | // ===================================================================================== |
522 | // Terrain creation and helper routines | 563 | // Terrain creation and helper routines |
523 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 564 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
524 | public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, | 565 | public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, |
525 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); | 566 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); |
526 | 567 | ||
527 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 568 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
528 | public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, | 569 | public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, |
529 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); | 570 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); |
530 | 571 | ||
531 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 572 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -563,7 +604,7 @@ public static extern void SetConstraintEnable2(IntPtr constrain, float numericTr | |||
563 | public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); | 604 | public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); |
564 | 605 | ||
565 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 606 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
566 | public static extern bool SetFrames2(IntPtr constrain, | 607 | public static extern bool SetFrames2(IntPtr constrain, |
567 | Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); | 608 | Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); |
568 | 609 | ||
569 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 610 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |