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.

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
          */
         BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
 
-        // Set up the object physicalness (does gravity and collisions move this object)
-        MakeDynamic(IsStatic);
-
         // Make solid or not (do things bounce off or pass through this object)
+        // This is done first because it can change the collisionObject type.
         MakeSolid(IsSolid);
 
+        // Set up the object physicalness (does gravity and collisions move this object)
+        MakeDynamic(IsStatic);
+
         // Arrange for collisions events if the simulator wants them
         EnableCollisions(SubscribedEvents());
 
@@ -554,17 +555,51 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // "Making solid" means that other object will not pass through this object.
+    // To make transparent, we create a Bullet ghost object.
+    // Note: This expects to be called from the UpdatePhysicalParameters() routine as
+    //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.Ptr);
+        /*
         if (makeSolid)
         {
-            // Easy in Bullet -- just remove the object flag that controls collision response
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
+            {
+                // Solid things are made out of rigid bodies. Remove this old body from the world
+                //    and use this shape in a new rigid body.
+                BulletBody oldBody = BSBody;
+                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
+                BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
+                BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
+                BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr);
+                BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
+            }
         }
         else
         {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
+            {
+                // Non-solid things are made out of ghost objects. Remove this old body from the world
+                //    and use this shape in a new rigid body.
+                BulletBody oldBody = BSBody;
+                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
+                BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
+                BSBody = new BulletBody(LocalID, 
+                        BulletSimAPI.CreateGhostFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
+                if (BSBody.Ptr == IntPtr.Zero)
+                {
+                    m_log.ErrorFormat("{0} BSPrim.MakeSolid: failed creation of ghost object. LocalID=[1}", LogHeader, LocalID);
+                    BSBody = oldBody;
+                }
+                else
+                {
+                    BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr);
+                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
+                }
+            }
         }
+         */
     }
 
     // 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
 
     public string BulletSimVersion = "?";
 
-    public Dictionary<uint, BSPhysObject> PhysObjects = new Dictionary<uint, BSPhysObject>();
+    public Dictionary<uint, BSPhysObject> PhysObjects;
+    public BSShapeCollection Shapes;
 
+    // Keeping track of the objects with collisions so we can report begin and end of a collision
     public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
     public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
     // Keep track of all the avatars so we can send them a collision event
@@ -203,6 +205,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     public override void Initialise(IMesher meshmerizer, IConfigSource config)
     {
+        mesher = meshmerizer;
+        _taintedObjects = new List<TaintCallbackEntry>();
+        PhysObjects = new Dictionary<uint, BSPhysObject>();
+        Shapes = new BSShapeCollection(this);
+
         // Allocate pinned memory to pass parameters.
         m_params = new ConfigurationParameters[1];
         m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
@@ -216,12 +223,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
         m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
 
-        mesher = meshmerizer;
-        _taintedObjects = new List<TaintCallbackEntry>();
-
         // Enable very detailed logging.
         // By creating an empty logger when not logging, the log message invocation code
-        // can be left in and every call doesn't have to check for null.
+        //     can be left in and every call doesn't have to check for null.
         if (m_physicsLoggingEnabled)
         {
             PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
@@ -252,7 +256,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         //    a child in a mega-region.
         // Turns out that Bullet really doesn't care about the extents of the simulated
         //    area. It tracks active objects no matter where they are.
-        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f);
+        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
         // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
         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 @@
+/*

+ * Copyright (c) Contributors, http://opensimulator.org/

+ * See CONTRIBUTORS.TXT for a full list of copyright holders.

+ *

+ * Redistribution and use in source and binary forms, with or without

+ * modification, are permitted provided that the following conditions are met:

+ *     * Redistributions of source code must retain the above copyright

+ *       notice, this list of conditions and the following disclaimer.

+ *     * Redistributions in binary form must reproduce the above copyrightD

+ *       notice, this list of conditions and the following disclaimer in the

+ *       documentation and/or other materials provided with the distribution.

+ *     * Neither the name of the OpenSimulator Project nor the

+ *       names of its contributors may be used to endorse or promote products

+ *       derived from this software without specific prior written permission.

+ *

+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY

+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY

+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+ */

+using System;

+using System.Collections.Generic;

+using System.Text;

+using OMV = OpenMetaverse;

+

+namespace OpenSim.Region.Physics.BulletSPlugin

+{

+public class BSShapeCollection : IDisposable

+{

+    protected BSScene PhysicsScene { get; set; }

+

+    public BSShapeCollection(BSScene physScene)

+    {

+        PhysicsScene = physScene;

+    }

+

+    public void Dispose()

+    {

+    }

+

+    // Track another user of a body

+    public void ReferenceBody(BulletBody shape)

+    {

+    }

+

+    // Release the usage of a body

+    public void DereferenceBody(BulletBody shape)

+    {

+    }

+

+    // Track another user of the shape

+    public void ReferenceShape(BulletShape shape)

+    {

+    }

+

+    // Release the usage of a shape

+    public void DereferenceShape(BulletShape shape)

+    {

+    }

+

+

+

+}

+}

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
     public void CreateInitialGroundPlaneAndTerrain()
     {
         // The ground plane is here to catch things that are trying to drop to negative infinity
-        BulletShape groundPlaneShape = new BulletShape(BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN));
+        BulletShape groundPlaneShape = new BulletShape(
+                    BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN),
+                    ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE);
         m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, 
                         BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity));
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr);
@@ -297,7 +299,8 @@ public class BSTerrainManager
                     centerPos.Z = minZ + ((maxZ - minZ) / 2f);
 
                     // Create the terrain shape from the mapInfo
-                    mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr));
+                    mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
+                                ShapeData.PhysicsShapeType.SHAPE_TERRAIN);
 
                     mapInfo.terrainBody = new BulletBody(mapInfo.ID, 
                             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 {
 // The physics engine controller class created at initialization
 public struct BulletSim
 {
-    public BulletSim(uint worldId, BSScene bss, IntPtr xx) { worldID = worldId; scene = bss;  Ptr = xx; }
+    public BulletSim(uint worldId, BSScene bss, IntPtr xx)
+    {
+        worldID = worldId; scene = bss;  Ptr = xx;
+    }
     public uint worldID;
     // The scene is only in here so very low level routines have a handle to print debug/error messages
     public BSScene scene;
     public IntPtr Ptr;
 }
 
-public struct BulletShape
+// An allocated Bullet btRigidBody
+public struct BulletBody
 {
-    public BulletShape(IntPtr xx) { Ptr = xx; }
+    public BulletBody(uint id, IntPtr xx)
+    {
+        ID = id;
+        Ptr = xx;
+    }
     public IntPtr Ptr;
+    public uint ID;
 }
 
-// An allocated Bullet btRigidBody
-public struct BulletBody
+public struct BulletShape
 {
-    public BulletBody(uint id, IntPtr xx) { ID = id;  Ptr = xx; }
+    public BulletShape(IntPtr xx)
+    {
+        Ptr = xx;
+        type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
+        hashKey = 0;
+    }
+    public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
+    {
+        Ptr = xx;
+        type = typ;
+        hashKey = 0;
+    }
     public IntPtr Ptr;
-    public uint ID;
+    public ShapeData.PhysicsShapeType type;
+    public ulong hashKey;
 }
 
 // An allocated Bullet btConstraint
 public struct BulletConstraint
 {
-    public BulletConstraint(IntPtr xx) { Ptr = xx; }
+    public BulletConstraint(IntPtr xx)
+    {
+        Ptr = xx;
+    }
     public IntPtr Ptr;
 }
 
@@ -96,14 +119,14 @@ public class BulletHeightMapInfo
 
 // ===============================================================================
 [StructLayout(LayoutKind.Sequential)]
-public struct ConvexHull 
+public struct ConvexHull
 {
         Vector3 Offset;
         int VertexCount;
         Vector3[] Vertices;
 }
 [StructLayout(LayoutKind.Sequential)]
-public struct ShapeData 
+public struct ShapeData
 {
     public enum PhysicsShapeType
     {
@@ -114,7 +137,9 @@ public struct ShapeData
                 SHAPE_CYLINDER  = 4,
                 SHAPE_SPHERE    = 5,
                 SHAPE_MESH      = 6,
-                SHAPE_HULL      = 7
+                SHAPE_HULL      = 7,
+                SHAPE_GROUNDPLANE  = 8,
+                SHAPE_TERRAIN   = 9,
     };
     public uint ID;
     public PhysicsShapeType Type;
@@ -136,7 +161,7 @@ public struct ShapeData
     public const float numericFalse = 0f;
 }
 [StructLayout(LayoutKind.Sequential)]
-public struct SweepHit 
+public struct SweepHit
 {
     public uint ID;
     public float Fraction;
@@ -227,7 +252,17 @@ public enum ActivationState : uint
     ISLAND_SLEEPING,
     WANTS_DEACTIVATION,
     DISABLE_DEACTIVATION,
-    DISABLE_SIMULATION
+    DISABLE_SIMULATION,
+}
+
+public enum CollisionObjectTypes : int
+{
+    CO_COLLISION_OBJECT             = 1 << 0,
+    CO_RIGID_BODY                   = 1 << 1,
+    CO_GHOST_OBJECT                 = 1 << 2,
+    CO_SOFT_BODY                    = 1 << 3,
+    CO_HF_FLUID                     = 1 << 4,
+    CO_USER_TYPE                    = 1 << 5,
 }
 
 // Values used by Bullet and BulletSim to control object properties.
@@ -313,8 +348,8 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg
 public static extern string GetVersion();
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, 
-                        int maxCollisions, IntPtr collisionArray, 
+public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
+                        int maxCollisions, IntPtr collisionArray,
                         int maxUpdates, IntPtr updateArray,
                         DebugLogCallback logRoutine);
 
@@ -333,19 +368,19 @@ public static extern bool UpdateParameter(uint worldID, uint localID,
 
 // ===============================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, 
-                        out int updatedEntityCount, 
+public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount,
                         out IntPtr updatedEntitiesPtr,
                         out int collidersCount,
                         out IntPtr collidersPtr);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, 
+public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
                             int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
     );
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, 
+public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
                             int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
                             int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
     );
@@ -459,7 +494,7 @@ public static extern void Shutdown2(IntPtr sim);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount, 
+                        out int updatedEntityCount,
                         out IntPtr updatedEntitiesPtr,
                         out int collidersCount,
                         out IntPtr collidersPtr);
@@ -470,8 +505,8 @@ public static extern bool PushUpdate2(IntPtr obj);
 // =====================================================================================
 // Mesh, hull, shape and body creation helper routines
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateMeshShape2(IntPtr world, 
-                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, 
+public static extern IntPtr CreateMeshShape2(IntPtr world,
+                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
                 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -504,12 +539,18 @@ public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape
 public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetBodyType2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -521,11 +562,11 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
 // =====================================================================================
 // Terrain creation and helper routines
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, 
+public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
         [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, 
+public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
         [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -563,7 +604,7 @@ public static extern void SetConstraintEnable2(IntPtr constrain, float numericTr
 public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetFrames2(IntPtr constrain, 
+public static extern bool SetFrames2(IntPtr constrain,
                 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]