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authorRobert Adams2013-01-01 09:32:21 -0800
committerRobert Adams2013-01-01 17:27:33 -0800
commit0662d109c2954c7be5f5e9400b1f4afdeab2c298 (patch)
tree367dc354a16c095a511950b9e54ec6a1294b1e10 /OpenSim/Region/Physics
parentBulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanaged (diff)
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BulletSim: fix line endings.
Diffstat (limited to 'OpenSim/Region/Physics')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs64
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs40
2 files changed, 52 insertions, 52 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 2c0cb43..9d8f60d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -55,10 +55,10 @@ private sealed class BulletBodyUnman : BulletBody
55 : base(id) 55 : base(id)
56 { 56 {
57 ptr = xx; 57 ptr = xx;
58 } 58 }
59 public override bool HasPhysicalBody 59 public override bool HasPhysicalBody
60 { 60 {
61 get { return ptr != IntPtr.Zero; } 61 get { return ptr != IntPtr.Zero; }
62 } 62 }
63 public override void Clear() 63 public override void Clear()
64 { 64 {
@@ -79,10 +79,10 @@ private sealed class BulletShapeUnman : BulletShape
79 ptr = xx; 79 ptr = xx;
80 type = typ; 80 type = typ;
81 } 81 }
82 public override bool HasPhysicalShape 82 public override bool HasPhysicalShape
83 { 83 {
84 get { return ptr != IntPtr.Zero; } 84 get { return ptr != IntPtr.Zero; }
85 } 85 }
86 public override void Clear() 86 public override void Clear()
87 { 87 {
88 ptr = IntPtr.Zero; 88 ptr = IntPtr.Zero;
@@ -202,7 +202,7 @@ public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSte
202 202
203public override void Shutdown(BulletWorld world) 203public override void Shutdown(BulletWorld world)
204{ 204{
205 BulletWorldUnman worldu = world as BulletWorldUnman; 205 BulletWorldUnman worldu = world as BulletWorldUnman;
206 BSAPICPP.Shutdown2(worldu.ptr); 206 BSAPICPP.Shutdown2(worldu.ptr);
207} 207}
208 208
@@ -249,7 +249,7 @@ public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShap
249 249
250public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData) 250public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
251{ 251{
252 BulletWorldUnman worldu = world as BulletWorldUnman; 252 BulletWorldUnman worldu = world as BulletWorldUnman;
253 return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type); 253 return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type);
254} 254}
255 255
@@ -334,7 +334,7 @@ public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletSha
334 334
335public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) 335public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
336{ 336{
337 BulletWorldUnman worldu = world as BulletWorldUnman; 337 BulletWorldUnman worldu = world as BulletWorldUnman;
338 BulletShapeUnman shapeu = shape as BulletShapeUnman; 338 BulletShapeUnman shapeu = shape as BulletShapeUnman;
339 return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr); 339 return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
340} 340}
@@ -360,7 +360,7 @@ public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, u
360 360
361public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) 361public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
362{ 362{
363 BulletWorldUnman worldu = world as BulletWorldUnman; 363 BulletWorldUnman worldu = world as BulletWorldUnman;
364 BulletShapeUnman shapeu = shape as BulletShapeUnman; 364 BulletShapeUnman shapeu = shape as BulletShapeUnman;
365 return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); 365 return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
366} 366}
@@ -393,7 +393,7 @@ public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletB
393 Vector3 frame2loc, Quaternion frame2rot, 393 Vector3 frame2loc, Quaternion frame2rot,
394 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 394 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
395{ 395{
396 BulletWorldUnman worldu = world as BulletWorldUnman; 396 BulletWorldUnman worldu = world as BulletWorldUnman;
397 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; 397 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
398 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; 398 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
399 return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, 399 return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
@@ -404,7 +404,7 @@ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
404 Vector3 joinPoint, 404 Vector3 joinPoint,
405 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 405 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
406{ 406{
407 BulletWorldUnman worldu = world as BulletWorldUnman; 407 BulletWorldUnman worldu = world as BulletWorldUnman;
408 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; 408 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
409 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; 409 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
410 return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, 410 return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
@@ -416,7 +416,7 @@ public override BulletConstraint CreateHingeConstraint(BulletWorld world, Bullet
416 Vector3 axisInA, Vector3 axisInB, 416 Vector3 axisInA, Vector3 axisInB,
417 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 417 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
418{ 418{
419 BulletWorldUnman worldu = world as BulletWorldUnman; 419 BulletWorldUnman worldu = world as BulletWorldUnman;
420 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; 420 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
421 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; 421 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
422 return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, 422 return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
@@ -494,7 +494,7 @@ public override bool DestroyConstraint(BulletWorld world, BulletConstraint const
494// ===================================================================================== 494// =====================================================================================
495// btCollisionWorld entries 495// btCollisionWorld entries
496public override void UpdateSingleAabb(BulletWorld world, BulletBody obj) 496public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
497{ 497{
498 BulletWorldUnman worldu = world as BulletWorldUnman; 498 BulletWorldUnman worldu = world as BulletWorldUnman;
499 BulletBodyUnman bodyu = obj as BulletBodyUnman; 499 BulletBodyUnman bodyu = obj as BulletBodyUnman;
500 BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr); 500 BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr);
@@ -502,19 +502,19 @@ public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
502 502
503public override void UpdateAabbs(BulletWorld world) 503public override void UpdateAabbs(BulletWorld world)
504{ 504{
505 BulletWorldUnman worldu = world as BulletWorldUnman; 505 BulletWorldUnman worldu = world as BulletWorldUnman;
506 BSAPICPP.UpdateAabbs2(worldu.ptr); 506 BSAPICPP.UpdateAabbs2(worldu.ptr);
507} 507}
508 508
509public override bool GetForceUpdateAllAabbs(BulletWorld world) 509public override bool GetForceUpdateAllAabbs(BulletWorld world)
510{ 510{
511 BulletWorldUnman worldu = world as BulletWorldUnman; 511 BulletWorldUnman worldu = world as BulletWorldUnman;
512 return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr); 512 return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr);
513} 513}
514 514
515public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) 515public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
516{ 516{
517 BulletWorldUnman worldu = world as BulletWorldUnman; 517 BulletWorldUnman worldu = world as BulletWorldUnman;
518 BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force); 518 BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force);
519} 519}
520 520
@@ -522,28 +522,28 @@ public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
522// btDynamicsWorld entries 522// btDynamicsWorld entries
523public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) 523public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
524{ 524{
525 BulletWorldUnman worldu = world as BulletWorldUnman; 525 BulletWorldUnman worldu = world as BulletWorldUnman;
526 BulletBodyUnman bodyu = obj as BulletBodyUnman; 526 BulletBodyUnman bodyu = obj as BulletBodyUnman;
527 return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); 527 return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
528} 528}
529 529
530public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) 530public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
531{ 531{
532 BulletWorldUnman worldu = world as BulletWorldUnman; 532 BulletWorldUnman worldu = world as BulletWorldUnman;
533 BulletBodyUnman bodyu = obj as BulletBodyUnman; 533 BulletBodyUnman bodyu = obj as BulletBodyUnman;
534 return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr); 534 return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr);
535} 535}
536 536
537public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) 537public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
538{ 538{
539 BulletWorldUnman worldu = world as BulletWorldUnman; 539 BulletWorldUnman worldu = world as BulletWorldUnman;
540 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; 540 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
541 return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects); 541 return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects);
542} 542}
543 543
544public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) 544public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
545{ 545{
546 BulletWorldUnman worldu = world as BulletWorldUnman; 546 BulletWorldUnman worldu = world as BulletWorldUnman;
547 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; 547 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
548 return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr); 548 return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr);
549} 549}
@@ -605,16 +605,16 @@ public override bool HasContactResponse(BulletBody obj)
605 605
606public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape) 606public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape)
607{ 607{
608 BulletWorldUnman worldu = world as BulletWorldUnman; 608 BulletWorldUnman worldu = world as BulletWorldUnman;
609 BulletBodyUnman bodyu = obj as BulletBodyUnman; 609 BulletBodyUnman bodyu = obj as BulletBodyUnman;
610 BulletShapeUnman shapeu = shape as BulletShapeUnman; 610 BulletShapeUnman shapeu = shape as BulletShapeUnman;
611 if (worldu != null && bodyu != null) 611 if (worldu != null && bodyu != null)
612 { 612 {
613 // Special case to allow the caller to zero out the reference to any physical shape 613 // Special case to allow the caller to zero out the reference to any physical shape
614 if (shapeu != null) 614 if (shapeu != null)
615 BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr); 615 BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr);
616 else 616 else
617 BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero); 617 BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero);
618 } 618 }
619} 619}
620 620
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index cb8108d..d4e2e87 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -894,26 +894,26 @@ public sealed class BSPrim : BSPhysObject
894 // Object MUST NOT already be in the world. 894 // Object MUST NOT already be in the world.
895 // This routine exists because some assorted properties get mangled by adding to the world. 895 // This routine exists because some assorted properties get mangled by adding to the world.
896 internal void AddObjectToPhysicalWorld() 896 internal void AddObjectToPhysicalWorld()
897 { 897 {
898 if (PhysBody.HasPhysicalBody) 898 if (PhysBody.HasPhysicalBody)
899 { 899 {
900 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); 900 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
901 901
902 // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. 902 // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
903 // Replace this when the new AddObjectToWorld function is complete. 903 // Replace this when the new AddObjectToWorld function is complete.
904 PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity()); 904 PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity());
905 905
906 // Collision filter can be set only when the object is in the world 906 // Collision filter can be set only when the object is in the world
907 if (!PhysBody.ApplyCollisionMask(PhysicsScene)) 907 if (!PhysBody.ApplyCollisionMask(PhysicsScene))
908 { 908 {
909 m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); 909 m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
910 DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); 910 DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
911 } 911 }
912 } 912 }
913 else 913 else
914 { 914 {
915 m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID); 915 m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
916 DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType); 916 DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
917 } 917 }
918 } 918 }
919 919