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authorRobert Adams2012-12-13 12:42:25 -0800
committerRobert Adams2012-12-13 16:32:06 -0800
commit3b2b785a461eba34c26a45be246c2baef2820e39 (patch)
tree10f25858b084edcd6e58af0fb220b893260ddf5d /OpenSim/Region
parentBulletSim: remove extra linkset rebuilds. (diff)
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BulletSim: Add 'BulletSimData' which separates structures created
for the operation of BulletSim and those defintiions/structures defined so they can be used in the unmanaged world. Consolidate setting of collision flags so implementation is not scattered.
Diffstat (limited to 'OpenSim/Region')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs5
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs29
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs5
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs4
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs5
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs183
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs282
7 files changed, 308 insertions, 205 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index c8aad8d..0defb24 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -167,9 +167,8 @@ public sealed class BSCharacter : BSPhysObject
167 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); 167 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
168 168
169 // Do this after the object has been added to the world 169 // Do this after the object has been added to the world
170 BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, 170 PhysBody.collisionType = CollisionType.Avatar;
171 (uint)CollisionFilterGroups.AvatarGroup, 171 PhysBody.ApplyCollisionMask();
172 (uint)CollisionFilterGroups.AvatarMask);
173 } 172 }
174 173
175 public override void RequestPhysicsterseUpdate() 174 public override void RequestPhysicsterseUpdate()
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 19c29cc..c9c9c2c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -661,14 +661,7 @@ public sealed class BSPrim : BSPhysObject
661 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); 661 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
662 662
663 // Collision filter can be set only when the object is in the world 663 // Collision filter can be set only when the object is in the world
664 if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0) 664 PhysBody.ApplyCollisionMask();
665 {
666 if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask))
667 {
668 PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}",
669 LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask);
670 }
671 }
672 665
673 // Recompute any linkset parameters. 666 // Recompute any linkset parameters.
674 // When going from non-physical to physical, this re-enables the constraints that 667 // When going from non-physical to physical, this re-enables the constraints that
@@ -713,11 +706,11 @@ public sealed class BSPrim : BSPhysObject
713 // Start it out sleeping and physical actions could wake it up. 706 // Start it out sleeping and physical actions could wake it up.
714 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); 707 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
715 708
709 // This collides like a static object
710 PhysBody.collisionType = CollisionType.Static;
711
716 // There can be special things needed for implementing linksets 712 // There can be special things needed for implementing linksets
717 Linkset.MakeStatic(this); 713 Linkset.MakeStatic(this);
718
719 PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup;
720 PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
721 } 714 }
722 else 715 else
723 { 716 {
@@ -755,16 +748,15 @@ public sealed class BSPrim : BSPhysObject
755 BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); 748 BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
756 BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); 749 BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
757 750
758 // There might be special things needed for implementing linksets. 751 // This collides like an object.
759 Linkset.MakeDynamic(this); 752 PhysBody.collisionType = CollisionType.Dynamic;
760 753
761 // Force activation of the object so Bullet will act on it. 754 // Force activation of the object so Bullet will act on it.
762 // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. 755 // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
763 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); 756 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
764 // BulletSimAPI.Activate2(BSBody.ptr, true);
765 757
766 PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup; 758 // There might be special things needed for implementing linksets.
767 PhysBody.collisionMask = CollisionFilterGroups.ObjectMask; 759 Linkset.MakeDynamic(this);
768 } 760 }
769 } 761 }
770 762
@@ -791,8 +783,9 @@ public sealed class BSPrim : BSPhysObject
791 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); 783 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
792 } 784 }
793 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); 785 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
794 PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup; 786
795 PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; 787 // Change collision info from a static object to a ghosty collision object
788 PhysBody.collisionType = CollisionType.VolumeDetect;
796 } 789 }
797 } 790 }
798 791
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 2d379bb..2b120d6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -121,9 +121,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
121 // redo its bounding box now that it is in the world 121 // redo its bounding box now that it is in the world
122 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); 122 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
123 123
124 BulletSimAPI.SetCollisionGroupMask2(m_mapInfo.terrainBody.ptr, 124 m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
125 (uint)CollisionFilterGroups.TerrainGroup, 125 m_mapInfo.terrainBody.ApplyCollisionMask();
126 (uint)CollisionFilterGroups.TerrainMask);
127 126
128 // Make it so the terrain will not move or be considered for movement. 127 // Make it so the terrain will not move or be considered for movement.
129 BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); 128 BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index c28d69d..5dbd8ce 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -140,8 +140,8 @@ public sealed class BSTerrainManager
140 // Ground plane does not move 140 // Ground plane does not move
141 BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); 141 BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
142 // Everything collides with the ground plane. 142 // Everything collides with the ground plane.
143 BulletSimAPI.SetCollisionGroupMask2(m_groundPlane.ptr, 143 m_groundPlane.collisionType = CollisionType.Groundplane;
144 (uint)CollisionFilterGroups.GroundPlaneGroup, (uint)CollisionFilterGroups.GroundPlaneMask); 144 m_groundPlane.ApplyCollisionMask();
145 145
146 // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. 146 // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
147 BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); 147 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 3473006..6dc0d92 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -130,9 +130,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys
130 // Redo its bounding box now that it is in the world 130 // Redo its bounding box now that it is in the world
131 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); 131 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
132 132
133 BulletSimAPI.SetCollisionGroupMask2(m_terrainBody.ptr, 133 m_terrainBody.collisionType = CollisionType.Terrain;
134 (uint)CollisionFilterGroups.TerrainGroup, 134 m_terrainBody.ApplyCollisionMask();
135 (uint)CollisionFilterGroups.TerrainMask);
136 135
137 // Make it so the terrain will not move or be considered for movement. 136 // Make it so the terrain will not move or be considered for movement.
138 BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); 137 BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 1559025..962b540 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -25,6 +25,7 @@
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic;
28using System.Runtime.InteropServices; 29using System.Runtime.InteropServices;
29using System.Security; 30using System.Security;
30using System.Text; 31using System.Text;
@@ -32,110 +33,6 @@ using OpenMetaverse;
32 33
33namespace OpenSim.Region.Physics.BulletSPlugin { 34namespace OpenSim.Region.Physics.BulletSPlugin {
34 35
35// Classes to allow some type checking for the API
36// These hold pointers to allocated objects in the unmanaged space.
37
38// The physics engine controller class created at initialization
39public struct BulletSim
40{
41 public BulletSim(uint worldId, BSScene bss, IntPtr xx)
42 {
43 ptr = xx;
44 worldID = worldId;
45 physicsScene = bss;
46 }
47 public IntPtr ptr;
48 public uint worldID;
49 // The scene is only in here so very low level routines have a handle to print debug/error messages
50 public BSScene physicsScene;
51}
52
53// An allocated Bullet btRigidBody
54public struct BulletBody
55{
56 public BulletBody(uint id) : this(id, IntPtr.Zero)
57 {
58 }
59 public BulletBody(uint id, IntPtr xx)
60 {
61 ID = id;
62 ptr = xx;
63 collisionGroup = 0;
64 collisionMask = 0;
65 }
66 public IntPtr ptr;
67 public uint ID;
68 public CollisionFilterGroups collisionGroup;
69 public CollisionFilterGroups collisionMask;
70
71 public void Clear()
72 {
73 ptr = IntPtr.Zero;
74 }
75 public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }
76
77 public override string ToString()
78 {
79 StringBuilder buff = new StringBuilder();
80 buff.Append("<id=");
81 buff.Append(ID.ToString());
82 buff.Append(",p=");
83 buff.Append(ptr.ToString("X"));
84 if (collisionGroup != 0 || collisionMask != 0)
85 {
86 buff.Append(",g=");
87 buff.Append(collisionGroup.ToString("X"));
88 buff.Append(",m=");
89 buff.Append(collisionMask.ToString("X"));
90 }
91 buff.Append(">");
92 return buff.ToString();
93 }
94}
95
96public struct BulletShape
97{
98 public BulletShape(IntPtr xx)
99 {
100 ptr = xx;
101 type=BSPhysicsShapeType.SHAPE_UNKNOWN;
102 shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
103 isNativeShape = false;
104 }
105 public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
106 {
107 ptr = xx;
108 type = typ;
109 shapeKey = 0;
110 isNativeShape = false;
111 }
112 public IntPtr ptr;
113 public BSPhysicsShapeType type;
114 public System.UInt64 shapeKey;
115 public bool isNativeShape;
116
117 public void Clear()
118 {
119 ptr = IntPtr.Zero;
120 }
121 public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }
122
123 public override string ToString()
124 {
125 StringBuilder buff = new StringBuilder();
126 buff.Append("<p=");
127 buff.Append(ptr.ToString("X"));
128 buff.Append(",s=");
129 buff.Append(type.ToString());
130 buff.Append(",k=");
131 buff.Append(shapeKey.ToString("X"));
132 buff.Append(",n=");
133 buff.Append(isNativeShape.ToString());
134 buff.Append(">");
135 return buff.ToString();
136 }
137}
138
139 // Constraint type values as defined by Bullet 36 // Constraint type values as defined by Bullet
140public enum ConstraintType : int 37public enum ConstraintType : int
141{ 38{
@@ -149,50 +46,6 @@ public enum ConstraintType : int
149 MAX_CONSTRAINT_TYPE 46 MAX_CONSTRAINT_TYPE
150} 47}
151 48
152// An allocated Bullet btConstraint
153public struct BulletConstraint
154{
155 public BulletConstraint(IntPtr xx)
156 {
157 ptr = xx;
158 }
159 public IntPtr ptr;
160
161 public void Clear()
162 {
163 ptr = IntPtr.Zero;
164 }
165 public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
166}
167
168// An allocated HeightMapThing which holds various heightmap info.
169// Made a class rather than a struct so there would be only one
170// instance of this and C# will pass around pointers rather
171// than making copies.
172public class BulletHeightMapInfo
173{
174 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
175 ID = id;
176 Ptr = xx;
177 heightMap = hm;
178 terrainRegionBase = Vector3.Zero;
179 minCoords = new Vector3(100f, 100f, 25f);
180 maxCoords = new Vector3(101f, 101f, 26f);
181 minZ = maxZ = 0f;
182 sizeX = sizeY = 256f;
183 }
184 public uint ID;
185 public IntPtr Ptr;
186 public float[] heightMap;
187 public Vector3 terrainRegionBase;
188 public Vector3 minCoords;
189 public Vector3 maxCoords;
190 public float sizeX, sizeY;
191 public float minZ, maxZ;
192 public BulletShape terrainShape;
193 public BulletBody terrainBody;
194}
195
196// =============================================================================== 49// ===============================================================================
197[StructLayout(LayoutKind.Sequential)] 50[StructLayout(LayoutKind.Sequential)]
198public struct ConvexHull 51public struct ConvexHull
@@ -385,21 +238,15 @@ public enum CollisionFlags : uint
385 BS_FLOATS_ON_WATER = 1 << 11, 238 BS_FLOATS_ON_WATER = 1 << 11,
386 BS_VEHICLE_COLLISIONS = 1 << 12, 239 BS_VEHICLE_COLLISIONS = 1 << 12,
387 BS_NONE = 0, 240 BS_NONE = 0,
388 BS_ALL = 0xFFFFFFFF, 241 BS_ALL = 0xFFFFFFFF
389
390 // These are the collision flags switched depending on physical state.
391 // The other flags are used for other things and should not be fooled with.
392 BS_ACTIVE = CF_STATIC_OBJECT
393 | CF_KINEMATIC_OBJECT
394 | CF_NO_CONTACT_RESPONSE
395}; 242};
396 243
397// Values for collisions groups and masks 244// Values f collisions groups and masks
398public enum CollisionFilterGroups : uint 245public enum CollisionFilterGroups : uint
399{ 246{
400 // Don't use the bit definitions!! Define the use in a 247 // Don't use the bit definitions!! Define the use in a
401 // filter/mask definition below. This way collision interactions 248 // filter/mask definition below. This way collision interactions
402 // are more easily debugged. 249 // are more easily found and debugged.
403 BNoneGroup = 0, 250 BNoneGroup = 0,
404 BDefaultGroup = 1 << 0, 251 BDefaultGroup = 1 << 0,
405 BStaticGroup = 1 << 1, 252 BStaticGroup = 1 << 1,
@@ -413,24 +260,8 @@ public enum CollisionFilterGroups : uint
413 BTerrainGroup = 1 << 11, 260 BTerrainGroup = 1 << 11,
414 BRaycastGroup = 1 << 12, 261 BRaycastGroup = 1 << 12,
415 BSolidGroup = 1 << 13, 262 BSolidGroup = 1 << 13,
416 BLinksetGroup = 1 << 14, 263 // BLinksetGroup = xx // a linkset proper is either static or dynamic
417 264 BLinksetChildGroup = 1 << 14,
418 // The collsion filters and masked are defined in one place -- don't want them scattered
419 AvatarGroup = BCharacterGroup,
420 AvatarMask = BAllGroup,
421 ObjectGroup = BSolidGroup,
422 ObjectMask = BAllGroup,
423 StaticObjectGroup = BStaticGroup,
424 StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
425 LinksetGroup = BLinksetGroup,
426 LinksetMask = BAllGroup & ~BLinksetGroup, // linkset objects don't collide with each other
427 VolumeDetectGroup = BSensorTrigger,
428 VolumeDetectMask = ~BSensorTrigger,
429 TerrainGroup = BTerrainGroup,
430 TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
431 GroundPlaneGroup = BGroundPlaneGroup,
432 GroundPlaneMask = BAllGroup
433
434}; 265};
435 266
436// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 267// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
@@ -457,7 +288,7 @@ public enum ConstraintParamAxis : int
457 288
458// =============================================================================== 289// ===============================================================================
459static class BulletSimAPI { 290static class BulletSimAPI {
460 291// ===============================================================================
461// Link back to the managed code for outputting log messages 292// Link back to the managed code for outputting log messages
462[UnmanagedFunctionPointer(CallingConvention.Cdecl)] 293[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
463public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); 294public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
new file mode 100755
index 0000000..e5c4777
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -0,0 +1,282 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using OMV = OpenMetaverse;
31
32namespace OpenSim.Region.Physics.BulletSPlugin
33{
34// Classes to allow some type checking for the API
35// These hold pointers to allocated objects in the unmanaged space.
36
37// The physics engine controller class created at initialization
38public struct BulletSim
39{
40 public BulletSim(uint worldId, BSScene bss, IntPtr xx)
41 {
42 ptr = xx;
43 worldID = worldId;
44 physicsScene = bss;
45 }
46 public IntPtr ptr;
47 public uint worldID;
48 // The scene is only in here so very low level routines have a handle to print debug/error messages
49 public BSScene physicsScene;
50}
51
52// An allocated Bullet btRigidBody
53public struct BulletBody
54{
55 public BulletBody(uint id) : this(id, IntPtr.Zero)
56 {
57 }
58 public BulletBody(uint id, IntPtr xx)
59 {
60 ID = id;
61 ptr = xx;
62 collisionType = CollisionType.Static;
63 }
64 public IntPtr ptr;
65 public uint ID;
66 public CollisionType collisionType;
67
68 public void Clear()
69 {
70 ptr = IntPtr.Zero;
71 }
72 public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }
73
74 // Apply the specificed collision mask into the physical world
75 public void ApplyCollisionMask()
76 {
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
79 // a collision body that is in the world.)
80 BulletSimAPI.SetCollisionGroupMask2(ptr,
81 BulletSimData.CollisionTypeMasks[collisionType].group,
82 BulletSimData.CollisionTypeMasks[collisionType].mask);
83 }
84
85 public override string ToString()
86 {
87 StringBuilder buff = new StringBuilder();
88 buff.Append("<id=");
89 buff.Append(ID.ToString());
90 buff.Append(",p=");
91 buff.Append(ptr.ToString("X"));
92 buff.Append(",c=");
93 buff.Append(collisionType);
94 buff.Append(">");
95 return buff.ToString();
96 }
97}
98
99public struct BulletShape
100{
101 public BulletShape(IntPtr xx)
102 {
103 ptr = xx;
104 type=BSPhysicsShapeType.SHAPE_UNKNOWN;
105 shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
106 isNativeShape = false;
107 }
108 public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
109 {
110 ptr = xx;
111 type = typ;
112 shapeKey = 0;
113 isNativeShape = false;
114 }
115 public IntPtr ptr;
116 public BSPhysicsShapeType type;
117 public System.UInt64 shapeKey;
118 public bool isNativeShape;
119
120 public void Clear()
121 {
122 ptr = IntPtr.Zero;
123 }
124 public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }
125
126 public override string ToString()
127 {
128 StringBuilder buff = new StringBuilder();
129 buff.Append("<p=");
130 buff.Append(ptr.ToString("X"));
131 buff.Append(",s=");
132 buff.Append(type.ToString());
133 buff.Append(",k=");
134 buff.Append(shapeKey.ToString("X"));
135 buff.Append(",n=");
136 buff.Append(isNativeShape.ToString());
137 buff.Append(">");
138 return buff.ToString();
139 }
140}
141
142// An allocated Bullet btConstraint
143public struct BulletConstraint
144{
145 public BulletConstraint(IntPtr xx)
146 {
147 ptr = xx;
148 }
149 public IntPtr ptr;
150
151 public void Clear()
152 {
153 ptr = IntPtr.Zero;
154 }
155 public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
156}
157
158// An allocated HeightMapThing which holds various heightmap info.
159// Made a class rather than a struct so there would be only one
160// instance of this and C# will pass around pointers rather
161// than making copies.
162public class BulletHeightMapInfo
163{
164 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
165 ID = id;
166 Ptr = xx;
167 heightMap = hm;
168 terrainRegionBase = OMV.Vector3.Zero;
169 minCoords = new OMV.Vector3(100f, 100f, 25f);
170 maxCoords = new OMV.Vector3(101f, 101f, 26f);
171 minZ = maxZ = 0f;
172 sizeX = sizeY = 256f;
173 }
174 public uint ID;
175 public IntPtr Ptr;
176 public float[] heightMap;
177 public OMV.Vector3 terrainRegionBase;
178 public OMV.Vector3 minCoords;
179 public OMV.Vector3 maxCoords;
180 public float sizeX, sizeY;
181 public float minZ, maxZ;
182 public BulletShape terrainShape;
183 public BulletBody terrainBody;
184}
185
186// The general class of collsion object.
187public enum CollisionType
188{
189 Avatar,
190 Groundplane,
191 Terrain,
192 Static,
193 Dynamic,
194 VolumeDetect,
195 // Linkset, // A linkset proper should be either Static or Dynamic
196 LinksetChild,
197 Unknown
198};
199
200// Hold specification of group and mask collision flags for a CollisionType
201public struct CollisionTypeFilterGroup
202{
203 public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
204 {
205 type = t;
206 group = g;
207 mask = m;
208 }
209 public CollisionType type;
210 public uint group;
211 public uint mask;
212};
213
214 /*
215 // The collsion filters and masked are defined in one place -- don't want them scattered
216 AvatarGroup = BCharacterGroup,
217 AvatarMask = BAllGroup,
218 ObjectGroup = BSolidGroup,
219 ObjectMask = BAllGroup,
220 StaticObjectGroup = BStaticGroup,
221 StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
222 LinksetGroup = BLinksetGroup,
223 LinksetMask = BAllGroup,
224 LinksetChildGroup = BLinksetChildGroup,
225 LinksetChildMask = BNoneGroup, // Linkset children disappear from the world
226 VolumeDetectGroup = BSensorTrigger,
227 VolumeDetectMask = ~BSensorTrigger,
228 TerrainGroup = BTerrainGroup,
229 TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
230 GroundPlaneGroup = BGroundPlaneGroup,
231 GroundPlaneMask = BAllGroup
232 */
233
234public static class BulletSimData
235{
236
237// Map of collisionTypes to flags for collision groups and masks.
238// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
239// but, instead, user references to this dictionary. This makes finding and debugging
240// collision flag usage easier.
241public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
242 = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
243{
244 { CollisionType.Avatar,
245 new CollisionTypeFilterGroup(CollisionType.Avatar,
246 (uint)CollisionFilterGroups.BCharacterGroup,
247 (uint)CollisionFilterGroups.BAllGroup)
248 },
249 { CollisionType.Groundplane,
250 new CollisionTypeFilterGroup(CollisionType.Groundplane,
251 (uint)CollisionFilterGroups.BGroundPlaneGroup,
252 (uint)CollisionFilterGroups.BAllGroup)
253 },
254 { CollisionType.Terrain,
255 new CollisionTypeFilterGroup(CollisionType.Terrain,
256 (uint)CollisionFilterGroups.BTerrainGroup,
257 (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
258 },
259 { CollisionType.Static,
260 new CollisionTypeFilterGroup(CollisionType.Static,
261 (uint)CollisionFilterGroups.BStaticGroup,
262 (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
263 },
264 { CollisionType.Dynamic,
265 new CollisionTypeFilterGroup(CollisionType.Dynamic,
266 (uint)CollisionFilterGroups.BSolidGroup,
267 (uint)(CollisionFilterGroups.BAllGroup))
268 },
269 { CollisionType.VolumeDetect,
270 new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
271 (uint)CollisionFilterGroups.BSensorTrigger,
272 (uint)(~CollisionFilterGroups.BSensorTrigger))
273 },
274 { CollisionType.LinksetChild,
275 new CollisionTypeFilterGroup(CollisionType.LinksetChild,
276 (uint)CollisionFilterGroups.BTerrainGroup,
277 (uint)(CollisionFilterGroups.BNoneGroup))
278 },
279};
280
281}
282}