diff options
author | Robert Adams | 2012-12-30 14:26:57 -0800 |
---|---|---|
committer | Robert Adams | 2012-12-31 19:57:23 -0800 |
commit | c2a7af18b639646b647eb4cdff4168a2b9746ee4 (patch) | |
tree | afe36195792b9990f7defd18bc29791f7527dcff /OpenSim/Region | |
parent | BulletSim: remove all the debug printing of pointer formatting (.ToString(X))... (diff) | |
download | opensim-SC_OLD-c2a7af18b639646b647eb4cdff4168a2b9746ee4.zip opensim-SC_OLD-c2a7af18b639646b647eb4cdff4168a2b9746ee4.tar.gz opensim-SC_OLD-c2a7af18b639646b647eb4cdff4168a2b9746ee4.tar.bz2 opensim-SC_OLD-c2a7af18b639646b647eb4cdff4168a2b9746ee4.tar.xz |
BulletSim: nearly complete in conversion from BulletSimAPI to BSAPITemplate. Only initialization and debug fuctions left.
Diffstat (limited to '')
15 files changed, 372 insertions, 201 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 9a8a2e8..6e68053 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | |||
@@ -34,7 +34,7 @@ using OpenMetaverse; | |||
34 | 34 | ||
35 | namespace OpenSim.Region.Physics.BulletSPlugin | 35 | namespace OpenSim.Region.Physics.BulletSPlugin |
36 | { | 36 | { |
37 | public sealed class BSAPIUnman : BulletSimAPITemplate | 37 | public sealed class BSAPIUnman : BSAPITemplate |
38 | { | 38 | { |
39 | /* | 39 | /* |
40 | // Initialization and simulation | 40 | // Initialization and simulation |
@@ -55,8 +55,11 @@ public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float | |||
55 | out int collidersCount, | 55 | out int collidersCount, |
56 | out IntPtr collidersPtr); | 56 | out IntPtr collidersPtr); |
57 | 57 | ||
58 | public bool PushUpdate(BulletBody obj); | ||
59 | */ | 58 | */ |
59 | public override bool PushUpdate(BulletBody obj) | ||
60 | { | ||
61 | return BSAPICPP.PushUpdate2(obj.ptr); | ||
62 | } | ||
60 | 63 | ||
61 | // ===================================================================================== | 64 | // ===================================================================================== |
62 | // Mesh, hull, shape and body creation helper routines | 65 | // Mesh, hull, shape and body creation helper routines |
@@ -569,146 +572,332 @@ public override void SetUserPointer(BulletBody obj, IntPtr val) | |||
569 | BSAPICPP.SetUserPointer2(obj.ptr, val); | 572 | BSAPICPP.SetUserPointer2(obj.ptr, val); |
570 | } | 573 | } |
571 | 574 | ||
572 | /* | ||
573 | // ===================================================================================== | 575 | // ===================================================================================== |
574 | // btRigidBody entries | 576 | // btRigidBody entries |
575 | public override void ApplyGravity(BulletBody obj); | 577 | public override void ApplyGravity(BulletBody obj) |
576 | 578 | { | |
577 | public override void SetGravity(BulletBody obj, Vector3 val); | 579 | BSAPICPP.ApplyGravity2(obj.ptr); |
580 | } | ||
578 | 581 | ||
579 | public override Vector3 GetGravity(BulletBody obj); | 582 | public override void SetGravity(BulletBody obj, Vector3 val) |
583 | { | ||
584 | BSAPICPP.SetGravity2(obj.ptr, val); | ||
585 | } | ||
580 | 586 | ||
581 | public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping); | 587 | public override Vector3 GetGravity(BulletBody obj) |
588 | { | ||
589 | return BSAPICPP.GetGravity2(obj.ptr); | ||
590 | } | ||
582 | 591 | ||
583 | public override void SetLinearDamping(BulletBody obj, float lin_damping); | 592 | public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping) |
593 | { | ||
594 | BSAPICPP.SetDamping2(obj.ptr, lin_damping, ang_damping); | ||
595 | } | ||
584 | 596 | ||
585 | public override void SetAngularDamping(BulletBody obj, float ang_damping); | 597 | public override void SetLinearDamping(BulletBody obj, float lin_damping) |
598 | { | ||
599 | BSAPICPP.SetLinearDamping2(obj.ptr, lin_damping); | ||
600 | } | ||
586 | 601 | ||
587 | public override float GetLinearDamping(BulletBody obj); | 602 | public override void SetAngularDamping(BulletBody obj, float ang_damping) |
603 | { | ||
604 | BSAPICPP.SetAngularDamping2(obj.ptr, ang_damping); | ||
605 | } | ||
588 | 606 | ||
589 | public override float GetAngularDamping(BulletBody obj); | 607 | public override float GetLinearDamping(BulletBody obj) |
608 | { | ||
609 | return BSAPICPP.GetLinearDamping2(obj.ptr); | ||
610 | } | ||
590 | 611 | ||
591 | public override float GetLinearSleepingThreshold(BulletBody obj); | 612 | public override float GetAngularDamping(BulletBody obj) |
613 | { | ||
614 | return BSAPICPP.GetAngularDamping2(obj.ptr); | ||
615 | } | ||
592 | 616 | ||
617 | public override float GetLinearSleepingThreshold(BulletBody obj) | ||
618 | { | ||
619 | return BSAPICPP.GetLinearSleepingThreshold2(obj.ptr); | ||
620 | } | ||
593 | 621 | ||
594 | public override void ApplyDamping(BulletBody obj, float timeStep); | 622 | public override void ApplyDamping(BulletBody obj, float timeStep) |
623 | { | ||
624 | BSAPICPP.ApplyDamping2(obj.ptr, timeStep); | ||
625 | } | ||
595 | 626 | ||
596 | public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia); | 627 | public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia) |
628 | { | ||
629 | BSAPICPP.SetMassProps2(obj.ptr, mass, inertia); | ||
630 | } | ||
597 | 631 | ||
598 | public override Vector3 GetLinearFactor(BulletBody obj); | 632 | public override Vector3 GetLinearFactor(BulletBody obj) |
633 | { | ||
634 | return BSAPICPP.GetLinearFactor2(obj.ptr); | ||
635 | } | ||
599 | 636 | ||
600 | public override void SetLinearFactor(BulletBody obj, Vector3 factor); | 637 | public override void SetLinearFactor(BulletBody obj, Vector3 factor) |
638 | { | ||
639 | BSAPICPP.SetLinearFactor2(obj.ptr, factor); | ||
640 | } | ||
601 | 641 | ||
602 | public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot); | 642 | public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) |
643 | { | ||
644 | BSAPICPP.SetCenterOfMassByPosRot2(obj.ptr, pos, rot); | ||
645 | } | ||
603 | 646 | ||
604 | // Add a force to the object as if its mass is one. | 647 | // Add a force to the object as if its mass is one. |
605 | public override void ApplyCentralForce(BulletBody obj, Vector3 force); | 648 | public override void ApplyCentralForce(BulletBody obj, Vector3 force) |
649 | { | ||
650 | BSAPICPP.ApplyCentralForce2(obj.ptr, force); | ||
651 | } | ||
606 | 652 | ||
607 | // Set the force being applied to the object as if its mass is one. | 653 | // Set the force being applied to the object as if its mass is one. |
608 | public override void SetObjectForce(BulletBody obj, Vector3 force); | 654 | public override void SetObjectForce(BulletBody obj, Vector3 force) |
655 | { | ||
656 | BSAPICPP.SetObjectForce2(obj.ptr, force); | ||
657 | } | ||
609 | 658 | ||
610 | public override Vector3 GetTotalForce(BulletBody obj); | 659 | public override Vector3 GetTotalForce(BulletBody obj) |
660 | { | ||
661 | return BSAPICPP.GetTotalForce2(obj.ptr); | ||
662 | } | ||
611 | 663 | ||
612 | public override Vector3 GetTotalTorque(BulletBody obj); | 664 | public override Vector3 GetTotalTorque(BulletBody obj) |
665 | { | ||
666 | return BSAPICPP.GetTotalTorque2(obj.ptr); | ||
667 | } | ||
613 | 668 | ||
614 | public override Vector3 GetInvInertiaDiagLocal(BulletBody obj); | 669 | public override Vector3 GetInvInertiaDiagLocal(BulletBody obj) |
670 | { | ||
671 | return BSAPICPP.GetInvInertiaDiagLocal2(obj.ptr); | ||
672 | } | ||
615 | 673 | ||
616 | public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert); | 674 | public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert) |
675 | { | ||
676 | BSAPICPP.SetInvInertiaDiagLocal2(obj.ptr, inert); | ||
677 | } | ||
617 | 678 | ||
618 | public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold); | 679 | public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold) |
680 | { | ||
681 | BSAPICPP.SetSleepingThresholds2(obj.ptr, lin_threshold, ang_threshold); | ||
682 | } | ||
619 | 683 | ||
620 | public override void ApplyTorque(BulletBody obj, Vector3 torque); | 684 | public override void ApplyTorque(BulletBody obj, Vector3 torque) |
685 | { | ||
686 | BSAPICPP.ApplyTorque2(obj.ptr, torque); | ||
687 | } | ||
621 | 688 | ||
622 | // Apply force at the given point. Will add torque to the object. | 689 | // Apply force at the given point. Will add torque to the object. |
623 | public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos); | 690 | public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos) |
691 | { | ||
692 | BSAPICPP.ApplyForce2(obj.ptr, force, pos); | ||
693 | } | ||
624 | 694 | ||
625 | // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. | 695 | // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. |
626 | public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp); | 696 | public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp) |
697 | { | ||
698 | BSAPICPP.ApplyCentralImpulse2(obj.ptr, imp); | ||
699 | } | ||
627 | 700 | ||
628 | // Apply impulse to the object's torque. Force is scaled by object's mass. | 701 | // Apply impulse to the object's torque. Force is scaled by object's mass. |
629 | public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp); | 702 | public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp) |
703 | { | ||
704 | BSAPICPP.ApplyTorqueImpulse2(obj.ptr, imp); | ||
705 | } | ||
630 | 706 | ||
631 | // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. | 707 | // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. |
632 | public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos); | 708 | public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos) |
709 | { | ||
710 | BSAPICPP.ApplyImpulse2(obj.ptr, imp, pos); | ||
711 | } | ||
633 | 712 | ||
634 | public override void ClearForces(BulletBody obj); | 713 | public override void ClearForces(BulletBody obj) |
714 | { | ||
715 | BSAPICPP.ClearForces2(obj.ptr); | ||
716 | } | ||
635 | 717 | ||
636 | public override void ClearAllForces(BulletBody obj); | 718 | public override void ClearAllForces(BulletBody obj) |
719 | { | ||
720 | BSAPICPP.ClearAllForces2(obj.ptr); | ||
721 | } | ||
637 | 722 | ||
638 | public override void UpdateInertiaTensor(BulletBody obj); | 723 | public override void UpdateInertiaTensor(BulletBody obj) |
724 | { | ||
725 | BSAPICPP.UpdateInertiaTensor2(obj.ptr); | ||
726 | } | ||
639 | 727 | ||
640 | public override Vector3 GetLinearVelocity(BulletBody obj); | 728 | public override Vector3 GetLinearVelocity(BulletBody obj) |
729 | { | ||
730 | return BSAPICPP.GetLinearVelocity2(obj.ptr); | ||
731 | } | ||
641 | 732 | ||
642 | public override Vector3 GetAngularVelocity(BulletBody obj); | 733 | public override Vector3 GetAngularVelocity(BulletBody obj) |
734 | { | ||
735 | return BSAPICPP.GetAngularVelocity2(obj.ptr); | ||
736 | } | ||
643 | 737 | ||
644 | public override void SetLinearVelocity(BulletBody obj, Vector3 val); | 738 | public override void SetLinearVelocity(BulletBody obj, Vector3 vel) |
739 | { | ||
740 | BSAPICPP.SetLinearVelocity2(obj.ptr, vel); | ||
741 | } | ||
645 | 742 | ||
646 | public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity); | 743 | public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity) |
744 | { | ||
745 | BSAPICPP.SetAngularVelocity2(obj.ptr, angularVelocity); | ||
746 | } | ||
647 | 747 | ||
648 | public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos); | 748 | public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos) |
749 | { | ||
750 | return BSAPICPP.GetVelocityInLocalPoint2(obj.ptr, pos); | ||
751 | } | ||
649 | 752 | ||
650 | public override void Translate(BulletBody obj, Vector3 trans); | 753 | public override void Translate(BulletBody obj, Vector3 trans) |
754 | { | ||
755 | BSAPICPP.Translate2(obj.ptr, trans); | ||
756 | } | ||
651 | 757 | ||
652 | public override void UpdateDeactivation(BulletBody obj, float timeStep); | 758 | public override void UpdateDeactivation(BulletBody obj, float timeStep) |
759 | { | ||
760 | BSAPICPP.UpdateDeactivation2(obj.ptr, timeStep); | ||
761 | } | ||
653 | 762 | ||
654 | public override bool WantsSleeping(BulletBody obj); | 763 | public override bool WantsSleeping(BulletBody obj) |
764 | { | ||
765 | return BSAPICPP.WantsSleeping2(obj.ptr); | ||
766 | } | ||
655 | 767 | ||
656 | public override void SetAngularFactor(BulletBody obj, float factor); | 768 | public override void SetAngularFactor(BulletBody obj, float factor) |
769 | { | ||
770 | BSAPICPP.SetAngularFactor2(obj.ptr, factor); | ||
771 | } | ||
657 | 772 | ||
658 | public override void SetAngularFactorV(BulletBody obj, Vector3 factor); | 773 | public override void SetAngularFactorV(BulletBody obj, Vector3 factor) |
774 | { | ||
775 | BSAPICPP.SetAngularFactorV2(obj.ptr, factor); | ||
776 | } | ||
659 | 777 | ||
660 | public override Vector3 GetAngularFactor(BulletBody obj); | 778 | public override Vector3 GetAngularFactor(BulletBody obj) |
779 | { | ||
780 | return BSAPICPP.GetAngularFactor2(obj.ptr); | ||
781 | } | ||
661 | 782 | ||
662 | public override bool IsInWorld(BulletBody obj); | 783 | public override bool IsInWorld(BulletBody obj) |
784 | { | ||
785 | return BSAPICPP.IsInWorld2(obj.ptr); | ||
786 | } | ||
663 | 787 | ||
664 | public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain); | 788 | public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain) |
789 | { | ||
790 | BSAPICPP.AddConstraintRef2(obj.ptr, constrain.ptr); | ||
791 | } | ||
665 | 792 | ||
666 | public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain); | 793 | public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain) |
794 | { | ||
795 | BSAPICPP.RemoveConstraintRef2(obj.ptr, constrain.ptr); | ||
796 | } | ||
667 | 797 | ||
668 | public override BulletConstraint GetConstraintRef(BulletBody obj, int index); | 798 | public override BulletConstraint GetConstraintRef(BulletBody obj, int index) |
799 | { | ||
800 | return new BulletConstraint(BSAPICPP.GetConstraintRef2(obj.ptr, index)); | ||
801 | } | ||
669 | 802 | ||
670 | public override int GetNumConstraintRefs(BulletBody obj); | 803 | public override int GetNumConstraintRefs(BulletBody obj) |
804 | { | ||
805 | return BSAPICPP.GetNumConstraintRefs2(obj.ptr); | ||
806 | } | ||
671 | 807 | ||
672 | public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask); | 808 | public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask) |
809 | { | ||
810 | return BSAPICPP.SetCollisionGroupMask2(body.ptr, filter, mask); | ||
811 | } | ||
673 | 812 | ||
674 | // ===================================================================================== | 813 | // ===================================================================================== |
675 | // btCollisionShape entries | 814 | // btCollisionShape entries |
676 | 815 | ||
677 | public override float GetAngularMotionDisc(BulletShape shape); | 816 | public override float GetAngularMotionDisc(BulletShape shape) |
817 | { | ||
818 | return BSAPICPP.GetAngularMotionDisc2(shape.ptr); | ||
819 | } | ||
678 | 820 | ||
679 | public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor); | 821 | public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor) |
822 | { | ||
823 | return BSAPICPP.GetContactBreakingThreshold2(shape.ptr, defaultFactor); | ||
824 | } | ||
680 | 825 | ||
681 | public override bool IsPolyhedral(BulletShape shape); | 826 | public override bool IsPolyhedral(BulletShape shape) |
827 | { | ||
828 | return BSAPICPP.IsPolyhedral2(shape.ptr); | ||
829 | } | ||
682 | 830 | ||
683 | public override bool IsConvex2d(BulletShape shape); | 831 | public override bool IsConvex2d(BulletShape shape) |
832 | { | ||
833 | return BSAPICPP.IsConvex2d2(shape.ptr); | ||
834 | } | ||
684 | 835 | ||
685 | public override bool IsConvex(BulletShape shape); | 836 | public override bool IsConvex(BulletShape shape) |
837 | { | ||
838 | return BSAPICPP.IsConvex2(shape.ptr); | ||
839 | } | ||
686 | 840 | ||
687 | public override bool IsNonMoving(BulletShape shape); | 841 | public override bool IsNonMoving(BulletShape shape) |
842 | { | ||
843 | return BSAPICPP.IsNonMoving2(shape.ptr); | ||
844 | } | ||
688 | 845 | ||
689 | public override bool IsConcave(BulletShape shape); | 846 | public override bool IsConcave(BulletShape shape) |
847 | { | ||
848 | return BSAPICPP.IsConcave2(shape.ptr); | ||
849 | } | ||
690 | 850 | ||
691 | public override bool IsCompound(BulletShape shape); | 851 | public override bool IsCompound(BulletShape shape) |
852 | { | ||
853 | return BSAPICPP.IsCompound2(shape.ptr); | ||
854 | } | ||
692 | 855 | ||
693 | public override bool IsSoftBody(BulletShape shape); | 856 | public override bool IsSoftBody(BulletShape shape) |
857 | { | ||
858 | return BSAPICPP.IsSoftBody2(shape.ptr); | ||
859 | } | ||
694 | 860 | ||
695 | public override bool IsInfinite(BulletShape shape); | 861 | public override bool IsInfinite(BulletShape shape) |
862 | { | ||
863 | return BSAPICPP.IsInfinite2(shape.ptr); | ||
864 | } | ||
696 | 865 | ||
697 | public override void SetLocalScaling(BulletShape shape, Vector3 scale); | 866 | public override void SetLocalScaling(BulletShape shape, Vector3 scale) |
867 | { | ||
868 | BSAPICPP.SetLocalScaling2(shape.ptr, scale); | ||
869 | } | ||
698 | 870 | ||
699 | public override Vector3 GetLocalScaling(BulletShape shape); | 871 | public override Vector3 GetLocalScaling(BulletShape shape) |
872 | { | ||
873 | return BSAPICPP.GetLocalScaling2(shape.ptr); | ||
874 | } | ||
700 | 875 | ||
701 | public override Vector3 CalculateLocalInertia(BulletShape shape, float mass); | 876 | public override Vector3 CalculateLocalInertia(BulletShape shape, float mass) |
877 | { | ||
878 | return BSAPICPP.CalculateLocalInertia2(shape.ptr, mass); | ||
879 | } | ||
702 | 880 | ||
703 | public override int GetShapeType(BulletShape shape); | 881 | public override int GetShapeType(BulletShape shape) |
882 | { | ||
883 | return BSAPICPP.GetShapeType2(shape.ptr); | ||
884 | } | ||
704 | 885 | ||
705 | public override void SetMargin(BulletShape shape, float val); | 886 | public override void SetMargin(BulletShape shape, float val) |
887 | { | ||
888 | BSAPICPP.SetMargin2(shape.ptr, val); | ||
889 | } | ||
706 | 890 | ||
707 | public override float GetMargin(BulletShape shape); | 891 | public override float GetMargin(BulletShape shape) |
708 | */ | 892 | { |
893 | return BSAPICPP.GetMargin2(shape.ptr); | ||
894 | } | ||
709 | 895 | ||
710 | static class BSAPICPP | 896 | static class BSAPICPP |
711 | { | 897 | { |
898 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
899 | public static extern bool PushUpdate2(IntPtr obj); | ||
900 | |||
712 | // ===================================================================================== | 901 | // ===================================================================================== |
713 | // Mesh, hull, shape and body creation helper routines | 902 | // Mesh, hull, shape and body creation helper routines |
714 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 903 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -1029,55 +1218,6 @@ public static extern IntPtr GetUserPointer2(IntPtr obj); | |||
1029 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1218 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
1030 | public static extern void SetUserPointer2(IntPtr obj, IntPtr val); | 1219 | public static extern void SetUserPointer2(IntPtr obj, IntPtr val); |
1031 | 1220 | ||
1032 | } | ||
1033 | } | ||
1034 | |||
1035 | // =============================================================================== | ||
1036 | // =============================================================================== | ||
1037 | // =============================================================================== | ||
1038 | // =============================================================================== | ||
1039 | // =============================================================================== | ||
1040 | // =============================================================================== | ||
1041 | // =============================================================================== | ||
1042 | // =============================================================================== | ||
1043 | // =============================================================================== | ||
1044 | // =============================================================================== | ||
1045 | // =============================================================================== | ||
1046 | // =============================================================================== | ||
1047 | // =============================================================================== | ||
1048 | static class BulletSimAPI { | ||
1049 | // =============================================================================== | ||
1050 | // Link back to the managed code for outputting log messages | ||
1051 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
1052 | public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); | ||
1053 | |||
1054 | // =============================================================================== | ||
1055 | // Initialization and simulation | ||
1056 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1057 | public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, | ||
1058 | int maxCollisions, IntPtr collisionArray, | ||
1059 | int maxUpdates, IntPtr updateArray, | ||
1060 | DebugLogCallback logRoutine); | ||
1061 | |||
1062 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1063 | public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); | ||
1064 | |||
1065 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1066 | public static extern void SetHeightMap2(IntPtr world, float[] heightmap); | ||
1067 | |||
1068 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1069 | public static extern void Shutdown2(IntPtr sim); | ||
1070 | |||
1071 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1072 | public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, | ||
1073 | out int updatedEntityCount, | ||
1074 | out IntPtr updatedEntitiesPtr, | ||
1075 | out int collidersCount, | ||
1076 | out IntPtr collidersPtr); | ||
1077 | |||
1078 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1079 | public static extern bool PushUpdate2(IntPtr obj); | ||
1080 | |||
1081 | // ===================================================================================== | 1221 | // ===================================================================================== |
1082 | // btRigidBody entries | 1222 | // btRigidBody entries |
1083 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1223 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -1291,6 +1431,52 @@ public static extern void SetMargin2(IntPtr shape, float val); | |||
1291 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1431 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
1292 | public static extern float GetMargin2(IntPtr shape); | 1432 | public static extern float GetMargin2(IntPtr shape); |
1293 | 1433 | ||
1434 | } | ||
1435 | } | ||
1436 | |||
1437 | // =============================================================================== | ||
1438 | // =============================================================================== | ||
1439 | // =============================================================================== | ||
1440 | // =============================================================================== | ||
1441 | // =============================================================================== | ||
1442 | // =============================================================================== | ||
1443 | // =============================================================================== | ||
1444 | // =============================================================================== | ||
1445 | // =============================================================================== | ||
1446 | // =============================================================================== | ||
1447 | // =============================================================================== | ||
1448 | // =============================================================================== | ||
1449 | // =============================================================================== | ||
1450 | static class BulletSimAPI { | ||
1451 | // =============================================================================== | ||
1452 | // Link back to the managed code for outputting log messages | ||
1453 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
1454 | public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); | ||
1455 | |||
1456 | // =============================================================================== | ||
1457 | // Initialization and simulation | ||
1458 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1459 | public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, | ||
1460 | int maxCollisions, IntPtr collisionArray, | ||
1461 | int maxUpdates, IntPtr updateArray, | ||
1462 | DebugLogCallback logRoutine); | ||
1463 | |||
1464 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1465 | public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); | ||
1466 | |||
1467 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1468 | public static extern void SetHeightMap2(IntPtr world, float[] heightmap); | ||
1469 | |||
1470 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1471 | public static extern void Shutdown2(IntPtr sim); | ||
1472 | |||
1473 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1474 | public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, | ||
1475 | out int updatedEntityCount, | ||
1476 | out IntPtr updatedEntitiesPtr, | ||
1477 | out int collidersCount, | ||
1478 | out IntPtr collidersPtr); | ||
1479 | |||
1294 | // ===================================================================================== | 1480 | // ===================================================================================== |
1295 | // Debugging | 1481 | // Debugging |
1296 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1482 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index b119f22..fbf362d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | |||
@@ -290,7 +290,7 @@ public enum ConstraintParamAxis : int | |||
290 | AXIS_ALL | 290 | AXIS_ALL |
291 | }; | 291 | }; |
292 | 292 | ||
293 | public abstract class BulletSimAPITemplate | 293 | public abstract class BSAPITemplate |
294 | { | 294 | { |
295 | /* | 295 | /* |
296 | // Initialization and simulation | 296 | // Initialization and simulation |
@@ -311,8 +311,8 @@ public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSte | |||
311 | out int collidersCount, | 311 | out int collidersCount, |
312 | out IntPtr collidersPtr); | 312 | out IntPtr collidersPtr); |
313 | 313 | ||
314 | public abstract bool PushUpdate(BulletBody obj); | ||
315 | */ | 314 | */ |
315 | public abstract bool PushUpdate(BulletBody obj); | ||
316 | 316 | ||
317 | // ===================================================================================== | 317 | // ===================================================================================== |
318 | // Mesh, hull, shape and body creation helper routines | 318 | // Mesh, hull, shape and body creation helper routines |
@@ -525,7 +525,6 @@ public abstract IntPtr GetUserPointer(BulletBody obj); | |||
525 | 525 | ||
526 | public abstract void SetUserPointer(BulletBody obj, IntPtr val); | 526 | public abstract void SetUserPointer(BulletBody obj, IntPtr val); |
527 | 527 | ||
528 | /* | ||
529 | // ===================================================================================== | 528 | // ===================================================================================== |
530 | // btRigidBody entries | 529 | // btRigidBody entries |
531 | public abstract void ApplyGravity(BulletBody obj); | 530 | public abstract void ApplyGravity(BulletBody obj); |
@@ -546,7 +545,6 @@ public abstract float GetAngularDamping(BulletBody obj); | |||
546 | 545 | ||
547 | public abstract float GetLinearSleepingThreshold(BulletBody obj); | 546 | public abstract float GetLinearSleepingThreshold(BulletBody obj); |
548 | 547 | ||
549 | |||
550 | public abstract void ApplyDamping(BulletBody obj, float timeStep); | 548 | public abstract void ApplyDamping(BulletBody obj, float timeStep); |
551 | 549 | ||
552 | public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia); | 550 | public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia); |
@@ -661,7 +659,6 @@ public abstract int GetShapeType(BulletShape shape); | |||
661 | public abstract void SetMargin(BulletShape shape, float val); | 659 | public abstract void SetMargin(BulletShape shape, float val); |
662 | 660 | ||
663 | public abstract float GetMargin(BulletShape shape); | 661 | public abstract float GetMargin(BulletShape shape); |
664 | */ | ||
665 | 662 | ||
666 | }; | 663 | }; |
667 | } | 664 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 328164b..103d8fc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
@@ -153,8 +153,8 @@ public sealed class BSCharacter : BSPhysObject | |||
153 | Flying = _flying; | 153 | Flying = _flying; |
154 | 154 | ||
155 | PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); | 155 | PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); |
156 | BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); | 156 | PhysicsScene.PE.SetMargin(PhysShape, PhysicsScene.Params.collisionMargin); |
157 | BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); | 157 | PhysicsScene.PE.SetLocalScaling(PhysShape, Scale); |
158 | PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); | 158 | PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); |
159 | if (BSParam.CcdMotionThreshold > 0f) | 159 | if (BSParam.CcdMotionThreshold > 0f) |
160 | { | 160 | { |
@@ -165,19 +165,19 @@ public sealed class BSCharacter : BSPhysObject | |||
165 | UpdatePhysicalMassProperties(RawMass, false); | 165 | UpdatePhysicalMassProperties(RawMass, false); |
166 | 166 | ||
167 | // Make so capsule does not fall over | 167 | // Make so capsule does not fall over |
168 | BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); | 168 | PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); |
169 | 169 | ||
170 | PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); | 170 | PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); |
171 | 171 | ||
172 | PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); | 172 | PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); |
173 | 173 | ||
174 | // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); | 174 | // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); |
175 | PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); | 175 | PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); |
176 | PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); | 176 | PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); |
177 | 177 | ||
178 | // Do this after the object has been added to the world | 178 | // Do this after the object has been added to the world |
179 | PhysBody.collisionType = CollisionType.Avatar; | 179 | PhysBody.collisionType = CollisionType.Avatar; |
180 | PhysBody.ApplyCollisionMask(); | 180 | PhysBody.ApplyCollisionMask(PhysicsScene); |
181 | } | 181 | } |
182 | 182 | ||
183 | // The avatar's movement is controlled by this motor that speeds up and slows down | 183 | // The avatar's movement is controlled by this motor that speeds up and slows down |
@@ -265,10 +265,10 @@ public sealed class BSCharacter : BSPhysObject | |||
265 | { | 265 | { |
266 | if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) | 266 | if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) |
267 | { | 267 | { |
268 | BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); | 268 | PhysicsScene.PE.SetLocalScaling(PhysShape, Scale); |
269 | UpdatePhysicalMassProperties(RawMass, true); | 269 | UpdatePhysicalMassProperties(RawMass, true); |
270 | // Make sure this change appears as a property update event | 270 | // Make sure this change appears as a property update event |
271 | BulletSimAPI.PushUpdate2(PhysBody.ptr); | 271 | PhysicsScene.PE.PushUpdate(PhysBody); |
272 | } | 272 | } |
273 | }); | 273 | }); |
274 | 274 | ||
@@ -309,7 +309,7 @@ public sealed class BSCharacter : BSPhysObject | |||
309 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() | 309 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() |
310 | { | 310 | { |
311 | if (PhysBody.HasPhysicalBody) | 311 | if (PhysBody.HasPhysicalBody) |
312 | BulletSimAPI.ClearAllForces2(PhysBody.ptr); | 312 | PhysicsScene.PE.ClearAllForces(PhysBody); |
313 | }); | 313 | }); |
314 | } | 314 | } |
315 | public override void ZeroAngularMotion(bool inTaintTime) | 315 | public override void ZeroAngularMotion(bool inTaintTime) |
@@ -321,9 +321,9 @@ public sealed class BSCharacter : BSPhysObject | |||
321 | if (PhysBody.HasPhysicalBody) | 321 | if (PhysBody.HasPhysicalBody) |
322 | { | 322 | { |
323 | PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); | 323 | PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); |
324 | BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); | 324 | PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero); |
325 | // The next also get rid of applied linear force but the linear velocity is untouched. | 325 | // The next also get rid of applied linear force but the linear velocity is untouched. |
326 | BulletSimAPI.ClearForces2(PhysBody.ptr); | 326 | PhysicsScene.PE.ClearForces(PhysBody); |
327 | } | 327 | } |
328 | }); | 328 | }); |
329 | } | 329 | } |
@@ -339,7 +339,7 @@ public sealed class BSCharacter : BSPhysObject | |||
339 | public override OMV.Vector3 Position { | 339 | public override OMV.Vector3 Position { |
340 | get { | 340 | get { |
341 | // Don't refetch the position because this function is called a zillion times | 341 | // Don't refetch the position because this function is called a zillion times |
342 | // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID); | 342 | // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); |
343 | return _position; | 343 | return _position; |
344 | } | 344 | } |
345 | set { | 345 | set { |
@@ -433,8 +433,8 @@ public sealed class BSCharacter : BSPhysObject | |||
433 | } | 433 | } |
434 | public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) | 434 | public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) |
435 | { | 435 | { |
436 | OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); | 436 | OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); |
437 | BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); | 437 | PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia); |
438 | } | 438 | } |
439 | 439 | ||
440 | public override OMV.Vector3 Force { | 440 | public override OMV.Vector3 Force { |
@@ -446,7 +446,7 @@ public sealed class BSCharacter : BSPhysObject | |||
446 | { | 446 | { |
447 | DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); | 447 | DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); |
448 | if (PhysBody.HasPhysicalBody) | 448 | if (PhysBody.HasPhysicalBody) |
449 | BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); | 449 | PhysicsScene.PE.SetObjectForce(PhysBody, _force); |
450 | }); | 450 | }); |
451 | } | 451 | } |
452 | } | 452 | } |
@@ -533,7 +533,7 @@ public sealed class BSCharacter : BSPhysObject | |||
533 | } | 533 | } |
534 | } | 534 | } |
535 | 535 | ||
536 | BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); | 536 | PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); |
537 | PhysicsScene.PE.Activate(PhysBody, true); | 537 | PhysicsScene.PE.Activate(PhysBody, true); |
538 | } | 538 | } |
539 | } | 539 | } |
@@ -676,7 +676,7 @@ public sealed class BSCharacter : BSPhysObject | |||
676 | // Buoyancy is faked by changing the gravity applied to the object | 676 | // Buoyancy is faked by changing the gravity applied to the object |
677 | float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); | 677 | float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); |
678 | if (PhysBody.HasPhysicalBody) | 678 | if (PhysBody.HasPhysicalBody) |
679 | BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); | 679 | PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav)); |
680 | } | 680 | } |
681 | } | 681 | } |
682 | 682 | ||
@@ -737,7 +737,7 @@ public sealed class BSCharacter : BSPhysObject | |||
737 | // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); | 737 | // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); |
738 | if (PhysBody.HasPhysicalBody) | 738 | if (PhysBody.HasPhysicalBody) |
739 | { | 739 | { |
740 | BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); | 740 | PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); |
741 | } | 741 | } |
742 | }); | 742 | }); |
743 | } | 743 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 5d70ef7..e4e3edc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -564,17 +564,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
564 | // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. | 564 | // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. |
565 | // Maybe compute linear and angular factor and damping from params. | 565 | // Maybe compute linear and angular factor and damping from params. |
566 | float angularDamping = BSParam.VehicleAngularDamping; | 566 | float angularDamping = BSParam.VehicleAngularDamping; |
567 | BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); | 567 | PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping); |
568 | 568 | ||
569 | // Vehicles report collision events so we know when it's on the ground | 569 | // Vehicles report collision events so we know when it's on the ground |
570 | PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); | 570 | PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); |
571 | 571 | ||
572 | Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); | 572 | Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass); |
573 | BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); | 573 | PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, localInertia); |
574 | BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); | 574 | PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody); |
575 | 575 | ||
576 | Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); | 576 | Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); |
577 | BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav); | 577 | PhysicsScene.PE.SetGravity(Prim.PhysBody, grav); |
578 | 578 | ||
579 | VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", | 579 | VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", |
580 | Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); | 580 | Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); |
@@ -669,7 +669,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
669 | 669 | ||
670 | // If we set one of the values (ie, the physics engine didn't do it) we must force | 670 | // If we set one of the values (ie, the physics engine didn't do it) we must force |
671 | // an UpdateProperties event to send the changes up to the simulator. | 671 | // an UpdateProperties event to send the changes up to the simulator. |
672 | BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); | 672 | PhysicsScene.PE.PushUpdate(Prim.PhysBody); |
673 | } | 673 | } |
674 | m_knownChanged = 0; | 674 | m_knownChanged = 0; |
675 | } | 675 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 143c60c..bd03d31 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | |||
@@ -387,11 +387,6 @@ public sealed class BSLinksetCompound : BSLinkset | |||
387 | } | 387 | } |
388 | 388 | ||
389 | PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape); | 389 | PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape); |
390 | |||
391 | // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets. | ||
392 | // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, | ||
393 | // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); | ||
394 | |||
395 | } | 390 | } |
396 | } | 391 | } |
397 | } \ No newline at end of file | 392 | } \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 629bc72..d0b2a56 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | |||
@@ -259,7 +259,7 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
259 | if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) | 259 | if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) |
260 | { | 260 | { |
261 | // Make the child refresh its location | 261 | // Make the child refresh its location |
262 | BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr); | 262 | PhysicsScene.PE.PushUpdate(childPrim.PhysBody); |
263 | ret = true; | 263 | ret = true; |
264 | } | 264 | } |
265 | 265 | ||
@@ -286,9 +286,6 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
286 | float linksetMass = LinksetMass; | 286 | float linksetMass = LinksetMass; |
287 | LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true); | 287 | LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true); |
288 | 288 | ||
289 | // DEBUG: see of inter-linkset collisions are causing problems | ||
290 | // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, | ||
291 | // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); | ||
292 | DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", | 289 | DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", |
293 | LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); | 290 | LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); |
294 | 291 | ||
@@ -307,11 +304,7 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
307 | } | 304 | } |
308 | constrain.RecomputeConstraintVariables(linksetMass); | 305 | constrain.RecomputeConstraintVariables(linksetMass); |
309 | 306 | ||
310 | // DEBUG: see of inter-linkset collisions are causing problems | 307 | // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG |
311 | // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, | ||
312 | // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); | ||
313 | |||
314 | // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG | ||
315 | } | 308 | } |
316 | 309 | ||
317 | } | 310 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index c6c2946..339722e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | |||
@@ -280,7 +280,7 @@ public static class BSParam | |||
280 | (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); }, | 280 | (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); }, |
281 | (s) => { return s.UnmanagedParams[0].gravity; }, | 281 | (s) => { return s.UnmanagedParams[0].gravity; }, |
282 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); }, | 282 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); }, |
283 | (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), | 283 | (s,o,v) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,v)); } ), |
284 | 284 | ||
285 | 285 | ||
286 | new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", | 286 | new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", |
@@ -288,13 +288,13 @@ public static class BSParam | |||
288 | (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, | 288 | (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, |
289 | (s) => { return LinearDamping; }, | 289 | (s) => { return LinearDamping; }, |
290 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); }, | 290 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); }, |
291 | (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ), | 291 | (s,o,v) => { s.PE.SetDamping(o.PhysBody, v, AngularDamping); } ), |
292 | new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", | 292 | new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", |
293 | 0f, | 293 | 0f, |
294 | (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, | 294 | (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, |
295 | (s) => { return AngularDamping; }, | 295 | (s) => { return AngularDamping; }, |
296 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); }, | 296 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); }, |
297 | (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ), | 297 | (s,o,v) => { s.PE.SetDamping(o.PhysBody, LinearDamping, v); } ), |
298 | new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", | 298 | new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", |
299 | 0.2f, | 299 | 0.2f, |
300 | (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, | 300 | (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, |
@@ -306,13 +306,13 @@ public static class BSParam | |||
306 | (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, | 306 | (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, |
307 | (s) => { return LinearSleepingThreshold; }, | 307 | (s) => { return LinearSleepingThreshold; }, |
308 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); }, | 308 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); }, |
309 | (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), | 309 | (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), |
310 | new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", | 310 | new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", |
311 | 1.0f, | 311 | 1.0f, |
312 | (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, | 312 | (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, |
313 | (s) => { return AngularSleepingThreshold; }, | 313 | (s) => { return AngularSleepingThreshold; }, |
314 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, | 314 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, |
315 | (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), | 315 | (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), |
316 | new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , | 316 | new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , |
317 | 0f, // set to zero to disable | 317 | 0f, // set to zero to disable |
318 | (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, | 318 | (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 613606f..064ce3c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -253,7 +253,7 @@ public sealed class BSPrim : BSPhysObject | |||
253 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() | 253 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() |
254 | { | 254 | { |
255 | if (PhysBody.HasPhysicalBody) | 255 | if (PhysBody.HasPhysicalBody) |
256 | BulletSimAPI.ClearAllForces2(PhysBody.ptr); | 256 | PhysicsScene.PE.ClearAllForces(PhysBody); |
257 | }); | 257 | }); |
258 | } | 258 | } |
259 | public override void ZeroAngularMotion(bool inTaintTime) | 259 | public override void ZeroAngularMotion(bool inTaintTime) |
@@ -266,7 +266,7 @@ public sealed class BSPrim : BSPhysObject | |||
266 | if (PhysBody.HasPhysicalBody) | 266 | if (PhysBody.HasPhysicalBody) |
267 | { | 267 | { |
268 | PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); | 268 | PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); |
269 | BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); | 269 | PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); |
270 | } | 270 | } |
271 | }); | 271 | }); |
272 | } | 272 | } |
@@ -292,7 +292,7 @@ public sealed class BSPrim : BSPhysObject | |||
292 | */ | 292 | */ |
293 | 293 | ||
294 | // don't do the GetObjectPosition for root elements because this function is called a zillion times. | 294 | // don't do the GetObjectPosition for root elements because this function is called a zillion times. |
295 | // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); | 295 | // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody); |
296 | return _position; | 296 | return _position; |
297 | } | 297 | } |
298 | set { | 298 | set { |
@@ -405,10 +405,10 @@ public sealed class BSPrim : BSPhysObject | |||
405 | { | 405 | { |
406 | if (IsStatic) | 406 | if (IsStatic) |
407 | { | 407 | { |
408 | BulletSimAPI.SetGravity2(PhysBody.ptr, PhysicsScene.DefaultGravity); | 408 | PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity); |
409 | Inertia = OMV.Vector3.Zero; | 409 | Inertia = OMV.Vector3.Zero; |
410 | BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); | 410 | PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia); |
411 | BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); | 411 | PhysicsScene.PE.UpdateInertiaTensor(PhysBody); |
412 | } | 412 | } |
413 | else | 413 | else |
414 | { | 414 | { |
@@ -423,14 +423,14 @@ public sealed class BSPrim : BSPhysObject | |||
423 | } | 423 | } |
424 | 424 | ||
425 | // The computation of mass props requires gravity to be set on the object. | 425 | // The computation of mass props requires gravity to be set on the object. |
426 | BulletSimAPI.SetGravity2(PhysBody.ptr, grav); | 426 | PhysicsScene.PE.SetGravity(PhysBody, grav); |
427 | 427 | ||
428 | Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); | 428 | Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); |
429 | BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); | 429 | PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia); |
430 | BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); | 430 | PhysicsScene.PE.UpdateInertiaTensor(PhysBody); |
431 | 431 | ||
432 | // center of mass is at the zero of the object | 432 | // center of mass is at the zero of the object |
433 | // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); | 433 | // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation); |
434 | DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld); | 434 | DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld); |
435 | 435 | ||
436 | if (inWorld) | 436 | if (inWorld) |
@@ -440,7 +440,7 @@ public sealed class BSPrim : BSPhysObject | |||
440 | 440 | ||
441 | // Must set gravity after it has been added to the world because, for unknown reasons, | 441 | // Must set gravity after it has been added to the world because, for unknown reasons, |
442 | // adding the object resets the object's gravity to world gravity | 442 | // adding the object resets the object's gravity to world gravity |
443 | BulletSimAPI.SetGravity2(PhysBody.ptr, grav); | 443 | PhysicsScene.PE.SetGravity(PhysBody, grav); |
444 | 444 | ||
445 | } | 445 | } |
446 | } | 446 | } |
@@ -483,7 +483,7 @@ public sealed class BSPrim : BSPhysObject | |||
483 | DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); | 483 | DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); |
484 | if (PhysBody.HasPhysicalBody) | 484 | if (PhysBody.HasPhysicalBody) |
485 | { | 485 | { |
486 | BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force); | 486 | PhysicsScene.PE.ApplyCentralForce(PhysBody, _force); |
487 | ActivateIfPhysical(false); | 487 | ActivateIfPhysical(false); |
488 | } | 488 | } |
489 | } | 489 | } |
@@ -583,7 +583,7 @@ public sealed class BSPrim : BSPhysObject | |||
583 | _velocity = value; | 583 | _velocity = value; |
584 | if (PhysBody.HasPhysicalBody) | 584 | if (PhysBody.HasPhysicalBody) |
585 | { | 585 | { |
586 | BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); | 586 | PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); |
587 | ActivateIfPhysical(false); | 587 | ActivateIfPhysical(false); |
588 | } | 588 | } |
589 | } | 589 | } |
@@ -809,7 +809,7 @@ public sealed class BSPrim : BSPhysObject | |||
809 | PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); | 809 | PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); |
810 | 810 | ||
811 | // Center of mass is at the center of the object | 811 | // Center of mass is at the center of the object |
812 | // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody, _position, _orientation); | 812 | // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation); |
813 | 813 | ||
814 | // A dynamic object has mass | 814 | // A dynamic object has mass |
815 | UpdatePhysicalMassProperties(RawMass, false); | 815 | UpdatePhysicalMassProperties(RawMass, false); |
@@ -822,9 +822,9 @@ public sealed class BSPrim : BSPhysObject | |||
822 | } | 822 | } |
823 | 823 | ||
824 | // Various values for simulation limits | 824 | // Various values for simulation limits |
825 | BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping); | 825 | PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping); |
826 | PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime); | 826 | PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime); |
827 | BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); | 827 | PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); |
828 | PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); | 828 | PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); |
829 | 829 | ||
830 | // This collides like an object. | 830 | // This collides like an object. |
@@ -901,10 +901,10 @@ public sealed class BSPrim : BSPhysObject | |||
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 | BulletSimAPI.SetGravity2(PhysBody.ptr, 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()) | 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); |
@@ -969,7 +969,7 @@ public sealed class BSPrim : BSPhysObject | |||
969 | _rotationalVelocity = value; | 969 | _rotationalVelocity = value; |
970 | if (PhysBody.HasPhysicalBody) | 970 | if (PhysBody.HasPhysicalBody) |
971 | { | 971 | { |
972 | BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); | 972 | PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); |
973 | ActivateIfPhysical(false); | 973 | ActivateIfPhysical(false); |
974 | } | 974 | } |
975 | } | 975 | } |
@@ -1061,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject | |||
1061 | DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); | 1061 | DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); |
1062 | if (PhysBody.HasPhysicalBody) | 1062 | if (PhysBody.HasPhysicalBody) |
1063 | { | 1063 | { |
1064 | BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); | 1064 | PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); |
1065 | ActivateIfPhysical(false); | 1065 | ActivateIfPhysical(false); |
1066 | } | 1066 | } |
1067 | }); | 1067 | }); |
@@ -1085,7 +1085,7 @@ public sealed class BSPrim : BSPhysObject | |||
1085 | { | 1085 | { |
1086 | if (PhysBody.HasPhysicalBody) | 1086 | if (PhysBody.HasPhysicalBody) |
1087 | { | 1087 | { |
1088 | BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce); | 1088 | PhysicsScene.PE.ApplyTorque(PhysBody, angForce); |
1089 | ActivateIfPhysical(false); | 1089 | ActivateIfPhysical(false); |
1090 | } | 1090 | } |
1091 | }); | 1091 | }); |
@@ -1108,7 +1108,7 @@ public sealed class BSPrim : BSPhysObject | |||
1108 | { | 1108 | { |
1109 | if (PhysBody.HasPhysicalBody) | 1109 | if (PhysBody.HasPhysicalBody) |
1110 | { | 1110 | { |
1111 | BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); | 1111 | PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse); |
1112 | ActivateIfPhysical(false); | 1112 | ActivateIfPhysical(false); |
1113 | } | 1113 | } |
1114 | }); | 1114 | }); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index bfc9df2..28c6680 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -51,7 +51,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
51 | public string BulletSimVersion = "?"; | 51 | public string BulletSimVersion = "?"; |
52 | 52 | ||
53 | // The handle to the underlying managed or unmanaged version of Bullet being used. | 53 | // The handle to the underlying managed or unmanaged version of Bullet being used. |
54 | public BulletSimAPITemplate PE; | 54 | public BSAPITemplate PE; |
55 | 55 | ||
56 | public Dictionary<uint, BSPhysObject> PhysObjects; | 56 | public Dictionary<uint, BSPhysObject> PhysObjects; |
57 | public BSShapeCollection Shapes; | 57 | public BSShapeCollection Shapes; |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index d59e455..cd77581 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | |||
@@ -141,7 +141,7 @@ public sealed class BSShapeCollection : IDisposable | |||
141 | if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); | 141 | if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); |
142 | PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() | 142 | PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() |
143 | { | 143 | { |
144 | if (!BulletSimAPI.IsInWorld2(body.ptr)) | 144 | if (!PhysicsScene.PE.IsInWorld(body)) |
145 | { | 145 | { |
146 | PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body); | 146 | PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body); |
147 | if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); | 147 | if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); |
@@ -166,7 +166,7 @@ public sealed class BSShapeCollection : IDisposable | |||
166 | // If the caller needs to know the old body is going away, pass the event up. | 166 | // If the caller needs to know the old body is going away, pass the event up. |
167 | if (bodyCallback != null) bodyCallback(body); | 167 | if (bodyCallback != null) bodyCallback(body); |
168 | 168 | ||
169 | if (BulletSimAPI.IsInWorld2(body.ptr)) | 169 | if (PhysicsScene.PE.IsInWorld(body)) |
170 | { | 170 | { |
171 | PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); | 171 | PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); |
172 | if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); | 172 | if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); |
@@ -332,7 +332,7 @@ public sealed class BSShapeCollection : IDisposable | |||
332 | // Called at taint-time. | 332 | // Called at taint-time. |
333 | private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) | 333 | private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) |
334 | { | 334 | { |
335 | if (!BulletSimAPI.IsCompound2(shape.ptr)) | 335 | if (!PhysicsScene.PE.IsCompound(shape)) |
336 | { | 336 | { |
337 | // Failed the sanity check!! | 337 | // Failed the sanity check!! |
338 | PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", | 338 | PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", |
@@ -376,7 +376,7 @@ public sealed class BSShapeCollection : IDisposable | |||
376 | } | 376 | } |
377 | else | 377 | else |
378 | { | 378 | { |
379 | if (BulletSimAPI.IsCompound2(cShape)) | 379 | if (PhysicsScene.PE.IsCompound(shapeInfo)) |
380 | { | 380 | { |
381 | shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; | 381 | shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; |
382 | } | 382 | } |
@@ -467,7 +467,7 @@ public sealed class BSShapeCollection : IDisposable | |||
467 | // Get the scale of any existing shape so we can see if the new shape is same native type and same size. | 467 | // Get the scale of any existing shape so we can see if the new shape is same native type and same size. |
468 | OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero; | 468 | OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero; |
469 | if (prim.PhysShape.HasPhysicalShape) | 469 | if (prim.PhysShape.HasPhysicalShape) |
470 | scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr); | 470 | scaleOfExistingShape = PhysicsScene.PE.GetLocalScaling(prim.PhysShape); |
471 | 471 | ||
472 | if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}", | 472 | if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}", |
473 | prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type); | 473 | prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 423e700..c75eb9b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | |||
@@ -151,12 +151,12 @@ public class BSShapeNative : BSShape | |||
151 | /* | 151 | /* |
152 | if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) | 152 | if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) |
153 | { | 153 | { |
154 | ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); | 154 | ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale); |
155 | physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); | 155 | physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); |
156 | } | 156 | } |
157 | else | 157 | else |
158 | { | 158 | { |
159 | ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData); | 159 | ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData); |
160 | } | 160 | } |
161 | if (ptr == IntPtr.Zero) | 161 | if (ptr == IntPtr.Zero) |
162 | { | 162 | { |
@@ -173,7 +173,7 @@ public class BSShapeNative : BSShape | |||
173 | /* | 173 | /* |
174 | // Native shapes are not tracked and are released immediately | 174 | // Native shapes are not tracked and are released immediately |
175 | physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); | 175 | physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); |
176 | BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr); | 176 | PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this); |
177 | ptr = IntPtr.Zero; | 177 | ptr = IntPtr.Zero; |
178 | // Garbage collection will free up this instance. | 178 | // Garbage collection will free up this instance. |
179 | */ | 179 | */ |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 01966c0..cc28344 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs | |||
@@ -120,7 +120,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys | |||
120 | PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody); | 120 | PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody); |
121 | 121 | ||
122 | m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; | 122 | m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; |
123 | m_mapInfo.terrainBody.ApplyCollisionMask(); | 123 | m_mapInfo.terrainBody.ApplyCollisionMask(PhysicsScene); |
124 | 124 | ||
125 | // Make it so the terrain will not move or be considered for movement. | 125 | // Make it so the terrain will not move or be considered for movement. |
126 | PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION); | 126 | PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 590c687..2e9db39 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | |||
@@ -143,7 +143,7 @@ public sealed class BSTerrainManager : IDisposable | |||
143 | PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); | 143 | PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); |
144 | // Everything collides with the ground plane. | 144 | // Everything collides with the ground plane. |
145 | m_groundPlane.collisionType = CollisionType.Groundplane; | 145 | m_groundPlane.collisionType = CollisionType.Groundplane; |
146 | m_groundPlane.ApplyCollisionMask(); | 146 | m_groundPlane.ApplyCollisionMask(PhysicsScene); |
147 | 147 | ||
148 | // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. | 148 | // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. |
149 | BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); | 149 | BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 2f55fc3..1d55ce3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs | |||
@@ -120,7 +120,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys | |||
120 | PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); | 120 | PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); |
121 | 121 | ||
122 | // Static objects are not very massive. | 122 | // Static objects are not very massive. |
123 | BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); | 123 | PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero); |
124 | 124 | ||
125 | // Put the new terrain to the world of physical objects | 125 | // Put the new terrain to the world of physical objects |
126 | PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody); | 126 | PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody); |
@@ -129,7 +129,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys | |||
129 | PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody); | 129 | PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody); |
130 | 130 | ||
131 | m_terrainBody.collisionType = CollisionType.Terrain; | 131 | m_terrainBody.collisionType = CollisionType.Terrain; |
132 | m_terrainBody.ApplyCollisionMask(); | 132 | m_terrainBody.ApplyCollisionMask(PhysicsScene); |
133 | 133 | ||
134 | // Make it so the terrain will not move or be considered for movement. | 134 | // Make it so the terrain will not move or be considered for movement. |
135 | PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION); | 135 | PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index c10d75e..a040928 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs | |||
@@ -72,12 +72,12 @@ public class BulletBody | |||
72 | public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } | 72 | public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } |
73 | 73 | ||
74 | // Apply the specificed collision mask into the physical world | 74 | // Apply the specificed collision mask into the physical world |
75 | public bool ApplyCollisionMask() | 75 | public bool ApplyCollisionMask(BSScene physicsScene) |
76 | { | 76 | { |
77 | // Should assert the body has been added to the physical world. | 77 | // Should assert the body has been added to the physical world. |
78 | // (The collision masks are stored in the collision proxy cache which only exists for | 78 | // (The collision masks are stored in the collision proxy cache which only exists for |
79 | // a collision body that is in the world.) | 79 | // a collision body that is in the world.) |
80 | return BulletSimAPI.SetCollisionGroupMask2(ptr, | 80 | return physicsScene.PE.SetCollisionGroupMask(this, |
81 | BulletSimData.CollisionTypeMasks[collisionType].group, | 81 | BulletSimData.CollisionTypeMasks[collisionType].group, |
82 | BulletSimData.CollisionTypeMasks[collisionType].mask); | 82 | BulletSimData.CollisionTypeMasks[collisionType].mask); |
83 | } | 83 | } |