BulletSim: add gImpact shape type. Add logic to use gImpact shape

for prims that have cuts or holes. Default logic to 'off' as it
needs debugging.

7 files changed, 167 insertions, 14 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 231f0f8..12a0c17 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -251,6 +251,16 @@ public override BulletShape CreateMeshShape(BulletWorld world,
                     BSPhysicsShapeType.SHAPE_MESH);
 }
 
+public override BulletShape CreateGImpactShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateGImpactShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
+                    BSPhysicsShapeType.SHAPE_GIMPACT);
+}
+
 public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
@@ -1426,6 +1436,11 @@ public static extern IntPtr CreateMeshShape2(IntPtr world,
                 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGImpactShape2(IntPtr world,
+                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
+                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateHullShape2(IntPtr world,
                 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 59780ae..6db5f5e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -1475,7 +1475,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
                 ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
                 break;
             case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
-                ret =  BSPhysicsShapeType.SHAPE_MESH;
+                ret =  BSPhysicsShapeType.SHAPE_CONVEXHULL;
                 break;
             case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
                 ret =  BSPhysicsShapeType.SHAPE_HULL;
@@ -1503,7 +1503,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
                 ret =  BSPhysicsShapeType.SHAPE_CONE;
                 break;
             case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE:
-                ret =  BSPhysicsShapeType.SHAPE_UNKNOWN;
+                ret =  BSPhysicsShapeType.SHAPE_CONVEXHULL;
                 break;
             case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
                 ret =  BSPhysicsShapeType.SHAPE_CYLINDER;
@@ -1547,7 +1547,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
                 break;
             ///Used for GIMPACT Trimesh integration
             case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE:
-                ret =  BSPhysicsShapeType.SHAPE_MESH;
+                ret =  BSPhysicsShapeType.SHAPE_GIMPACT;
                 break;
             ///Multimaterial mesh
             case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE:
@@ -1820,6 +1820,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
 
     }
+    public override BulletShape CreateGImpactShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
+    {
+        // TODO:
+        return null;
+    }
     public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
     {
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index 3378c93..6cdc112 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -71,6 +71,7 @@ public enum BSPhysicsShapeType
         SHAPE_HEIGHTMAP = 23,
     SHAPE_AVATAR    = 24,
     SHAPE_CONVEXHULL= 25,
+    SHAPE_GIMPACT   = 26,
 };
 
 // The native shapes have predefined shape hash keys
@@ -321,6 +322,10 @@ public abstract BulletShape CreateMeshShape(BulletWorld world,
                 int indicesCount, int[] indices,
                 int verticesCount, float[] vertices );
 
+public abstract BulletShape CreateGImpactShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices );
+
 public abstract BulletShape CreateHullShape(BulletWorld world,
                 int hullCount, float[] hulls);
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index d33292f..9a9e527 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -89,6 +89,7 @@ public static class BSParam
     public static bool ShouldRemoveZeroWidthTriangles { get; private set; }
     public static bool ShouldUseBulletHACD { get; set; }
     public static bool ShouldUseSingleConvexHullForPrims { get; set; }
+    public static bool ShouldUseGImpactShapeForPrims { get; set; }
 
     public static float TerrainImplementation { get; set; }
     public static int TerrainMeshMagnification { get; private set; }
@@ -369,6 +370,8 @@ public static class BSParam
             false ),
         new ParameterDefn<bool>("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims",
             true ),
+        new ParameterDefn<bool>("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists",
+            false ),
 
         new ParameterDefn<int>("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
             5 ),
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 9ed2d06..39f5b0a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -328,6 +328,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                 BSParam.ShouldUseBulletHACD = false;
                 m_log.InfoFormat("{0}    Disabling ShouldUseSingleConvexHullForPrims", LogHeader);
                 BSParam.ShouldUseSingleConvexHullForPrims = false;
+                m_log.InfoFormat("{0}    Disabling ShouldUseGImpactShapeForPrims", LogHeader);
+                BSParam.ShouldUseGImpactShapeForPrims = false;
                 m_log.InfoFormat("{0}    Setting terrain implimentation to Heightmap", LogHeader);
                 BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap;
                 break;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 64aaa15..32bbc8f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -230,6 +230,7 @@ public sealed class BSShapeCollection : IDisposable
             BSShape potentialHull = null;
 
             PrimitiveBaseShape pbs = prim.BaseShape;
+            // Use a simple, one section convex shape for prims that are probably convex (no cuts or twists)
             if (BSParam.ShouldUseSingleConvexHullForPrims
                 && pbs != null
                 && !pbs.SculptEntry
@@ -238,7 +239,17 @@ public sealed class BSShapeCollection : IDisposable
             {
                 potentialHull = BSShapeConvexHull.GetReference(m_physicsScene, false /* forceRebuild */, prim);
             }
-            else
+            // Use the GImpact shape if it is a prim that has some concaveness
+            if (potentialHull == null
+                && BSParam.ShouldUseGImpactShapeForPrims
+                && pbs != null
+                && !pbs.SculptEntry
+                )
+            {
+                    potentialHull = BSShapeGImpact.GetReference(m_physicsScene, false /* forceRebuild */, prim);
+            }
+            // If not any of the simple cases, just make a hull
+            if (potentialHull == null)
             {
                 potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim);
             }
@@ -261,7 +272,7 @@ public sealed class BSShapeCollection : IDisposable
         }
         else
         {
-            // Update prim.BSShape to reference a mesh of this shape.
+            // Non-physical objects should be just meshes.
             BSShape potentialMesh = BSShapeMesh.GetReference(m_physicsScene, false /*forceRebuild*/, prim);
             // If the current shape is not what is on the prim at the moment, time to change.
             if (!prim.PhysShape.HasPhysicalShape
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index 72d039b..0152233 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -422,9 +422,22 @@ public class BSShapeMesh : BSShape
         outMesh = foundDesc;
         return ret;
     }
+
+    public delegate BulletShape CreateShapeCall(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices );
     private BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
                                             PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
+        return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
+                            (w, iC, i, vC, v) => physicsScene.PE.CreateMeshShape(w, iC, i, vC, v) );
+    }
+
+    // Code that uses the mesher to create the index/vertices info for a trimesh shape.
+    // This is used by the passed 'makeShape' call to create the Bullet mesh shape.
+    // The actual build call is passed so this logic can be used by several of the shapes that use a
+    //     simple mesh as their base shape.
+    public static BulletShape CreatePhysicalMeshShape(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
+                                            PrimitiveBaseShape pbs, OMV.Vector3 size, float lod, CreateShapeCall makeShape)
+    {
         BulletShape newShape = new BulletShape();
 
         IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod,
@@ -482,8 +495,7 @@ public class BSShapeMesh : BSShape
 
             if (realIndicesIndex != 0)
             {
-                newShape = physicsScene.PE.CreateMeshShape(physicsScene.World,
-                                    realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats);
+                newShape = makeShape(physicsScene.World, realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats);
             }
             else
             {
@@ -803,6 +815,7 @@ public class BSShapeCompound : BSShape
     // Called at taint-time.
     private void DereferenceAnonCollisionShape(BSScene physicsScene, BulletShape pShape)
     {
+        // TODO: figure a better way to go through all the shape types and find a possible instance.
         BSShapeMesh meshDesc;
         if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc))
         {
@@ -824,17 +837,25 @@ public class BSShapeCompound : BSShape
                 }
                 else
                 {
-                    if (physicsScene.PE.IsCompound(pShape))
+                    BSShapeGImpact gImpactDesc;
+                    if (BSShapeGImpact.TryGetGImpactByPtr(pShape, out gImpactDesc))
                     {
-                        BSShapeCompound recursiveCompound = new BSShapeCompound(pShape);
-                        recursiveCompound.Dereference(physicsScene);
+                        gImpactDesc.Dereference(physicsScene);
                     }
                     else
                     {
-                        if (physicsScene.PE.IsNativeShape(pShape))
+                        if (physicsScene.PE.IsCompound(pShape))
+                        {
+                            BSShapeCompound recursiveCompound = new BSShapeCompound(pShape);
+                            recursiveCompound.Dereference(physicsScene);
+                        }
+                        else
                         {
-                            BSShapeNative nativeShape = new BSShapeNative(pShape);
-                            nativeShape.Dereference(physicsScene);
+                            if (physicsScene.PE.IsNativeShape(pShape))
+                            {
+                                BSShapeNative nativeShape = new BSShapeNative(pShape);
+                                nativeShape.Dereference(physicsScene);
+                            }
                         }
                     }
                 }
@@ -857,7 +878,7 @@ public class BSShapeConvexHull : BSShape
         float lod;
         System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
 
-        physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}",
+        physicsScene.DetailLog("{0},BSShapeConvexHull,getReference,newKey={1},size={2},lod={3}",
                                 prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod);
 
         BSShapeConvexHull retConvexHull = null;
@@ -937,6 +958,97 @@ public class BSShapeConvexHull : BSShape
         return ret;
     }
 }
+// ============================================================================================================
+public class BSShapeGImpact : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE GIMPACT]";
+    public static Dictionary<System.UInt64, BSShapeGImpact> GImpacts = new Dictionary<System.UInt64, BSShapeGImpact>();
+
+    public BSShapeGImpact(BulletShape pShape) : base(pShape)
+    {
+    }
+    public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
+    {
+        float lod;
+        System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
+
+        physicsScene.DetailLog("{0},BSShapeGImpact,getReference,newKey={1},size={2},lod={3}",
+                                prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod);
+
+        BSShapeGImpact retGImpact = null;
+        lock (GImpacts)
+        {
+            if (GImpacts.TryGetValue(newMeshKey, out retGImpact))
+            {
+                // The mesh has already been created. Return a new reference to same.
+                retGImpact.IncrementReference();
+            }
+            else
+            {
+                retGImpact = new BSShapeGImpact(new BulletShape());
+                BulletShape newShape = retGImpact.CreatePhysicalGImpact(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod);
+
+                // Check to see if mesh was created (might require an asset).
+                newShape = VerifyMeshCreated(physicsScene, newShape, prim);
+                if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed)
+                {
+                    // If a mesh was what was created, remember the built shape for later sharing.
+                    // Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh.
+                    GImpacts.Add(newMeshKey, retGImpact);
+                }
+
+                retGImpact.physShapeInfo = newShape;
+            }
+        }
+        return retGImpact;
+    }
+
+    private BulletShape CreatePhysicalGImpact(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
+                                            PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
+    {
+        return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
+                            (w, iC, i, vC, v) => physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v) );
+    }
+
+    public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim)
+    {
+        // Calling this reference means we want another handle to an existing shape
+        //     (usually linksets) so return this copy.
+        IncrementReference();
+        return this;
+    }
+    // Dereferencing a compound shape releases the hold on all the child shapes.
+    public override void Dereference(BSScene physicsScene)
+    {
+        lock (GImpacts)
+        {
+            this.DecrementReference();
+            physicsScene.DetailLog("{0},BSShapeGImpact.Dereference,shape={1}", BSScene.DetailLogZero, this);
+            // TODO: schedule aging and destruction of unused meshes.
+        }
+    }
+    // Loop through all the known hulls and return the description based on the physical address.
+    public static bool TryGetGImpactByPtr(BulletShape pShape, out BSShapeGImpact outHull)
+    {
+        bool ret = false;
+        BSShapeGImpact foundDesc = null;
+        lock (GImpacts)
+        {
+            foreach (BSShapeGImpact sh in GImpacts.Values)
+            {
+                if (sh.physShapeInfo.ReferenceSame(pShape))
+                {
+                    foundDesc = sh;
+                    ret = true;
+                    break;
+                }
+
+            }
+        }
+        outHull = foundDesc;
+        return ret;
+    }
+}
 
 // ============================================================================================================
 public class BSShapeAvatar : BSShape