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author | Robert Adams | 2012-07-23 10:37:52 -0700 |
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committer | Robert Adams | 2012-07-23 16:32:30 -0700 |
commit | 85c6eb7c500b708ab0a91965eca9da20b0b02e50 (patch) | |
tree | cf3f3725b5769c93958ec32acc24f6a0d5e5a4ec /OpenSim | |
parent | BulletSim: improve linking to add each link individually rather than rebuildi... (diff) | |
download | opensim-SC_OLD-85c6eb7c500b708ab0a91965eca9da20b0b02e50.zip opensim-SC_OLD-85c6eb7c500b708ab0a91965eca9da20b0b02e50.tar.gz opensim-SC_OLD-85c6eb7c500b708ab0a91965eca9da20b0b02e50.tar.bz2 opensim-SC_OLD-85c6eb7c500b708ab0a91965eca9da20b0b02e50.tar.xz |
BulletSim: add all the new functions to BulletSimAPI.
Modify ZeroMotion() to not make tainting calls and to use new API calls.
Diffstat (limited to 'OpenSim')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 13 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 132 |
2 files changed, 139 insertions, 6 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a749a97..29ddddd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -324,11 +324,20 @@ public sealed class BSPrim : PhysicsActor | |||
324 | // Set motion values to zero. | 324 | // Set motion values to zero. |
325 | // Do it to the properties so the values get set in the physics engine. | 325 | // Do it to the properties so the values get set in the physics engine. |
326 | // Push the setting of the values to the viewer. | 326 | // Push the setting of the values to the viewer. |
327 | // Called at taint time! | ||
327 | private void ZeroMotion() | 328 | private void ZeroMotion() |
328 | { | 329 | { |
329 | Velocity = OMV.Vector3.Zero; | 330 | _velocity = OMV.Vector3.Zero; |
330 | _acceleration = OMV.Vector3.Zero; | 331 | _acceleration = OMV.Vector3.Zero; |
331 | RotationalVelocity = OMV.Vector3.Zero; | 332 | _rotationalVelocity = OMV.Vector3.Zero; |
333 | |||
334 | IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); | ||
335 | BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero); | ||
336 | BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero); | ||
337 | BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
338 | BulletSimAPI.ClearForces2(obj); | ||
339 | |||
340 | // make sure this new information is pushed to the client | ||
332 | base.RequestPhysicsterseUpdate(); | 341 | base.RequestPhysicsterseUpdate(); |
333 | } | 342 | } |
334 | 343 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index babb707..54a8cfd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -291,13 +291,14 @@ public static extern void SetDebugLogCallback(DebugLogCallback callback); | |||
291 | // =============================================================================== | 291 | // =============================================================================== |
292 | // =============================================================================== | 292 | // =============================================================================== |
293 | // =============================================================================== | 293 | // =============================================================================== |
294 | // A new version of the API that moves all the logic out of the C++ code and into | 294 | // A new version of the API that enables moving all the logic out of the C++ code and into |
295 | // the C# code. This will make modifications easier for the next person. | 295 | // the C# code. This will make modifications easier for the next person. |
296 | // This interface passes the actual pointers to the objects in the unmanaged | 296 | // This interface passes the actual pointers to the objects in the unmanaged |
297 | // address space. All the management (calls for creation/destruction/lookup) | 297 | // address space. All the management (calls for creation/destruction/lookup) |
298 | // is done in the C# code. | 298 | // is done in the C# code. |
299 | // The names have a 2 tacked on. This will be removed as the code gets rebuilt | 299 | // The names have a "2" tacked on. This will be removed as the C# code gets rebuilt |
300 | // and the old code is removed from the C# code. | 300 | // and the old code is removed. |
301 | |||
301 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 302 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
302 | public static extern IntPtr GetSimHandle2(uint worldID); | 303 | public static extern IntPtr GetSimHandle2(uint worldID); |
303 | 304 | ||
@@ -307,8 +308,101 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); | |||
307 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 308 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
308 | public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); | 309 | public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); |
309 | 310 | ||
311 | // =============================================================================== | ||
310 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 312 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
311 | public static extern IntPtr ClearForces2(IntPtr obj); | 313 | public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, |
314 | int maxCollisions, IntPtr collisionArray, | ||
315 | int maxUpdates, IntPtr updateArray); | ||
316 | |||
317 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
318 | public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value); | ||
319 | |||
320 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
321 | public static extern void SetHeightmap2(IntPtr sim, float[] heightmap); | ||
322 | |||
323 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
324 | public static extern void Shutdown2(IntPtr sim); | ||
325 | |||
326 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
327 | public static extern int PhysicsStep2(IntPtr sim, float timeStep, int maxSubSteps, float fixedTimeStep, | ||
328 | out int updatedEntityCount, | ||
329 | out IntPtr updatedEntitiesPtr, | ||
330 | out int collidersCount, | ||
331 | out IntPtr collidersPtr); | ||
332 | |||
333 | /* | ||
334 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
335 | public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices ); | ||
336 | |||
337 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
338 | public static extern bool BuildHull2(IntPtr sim, IntPtr mesh); | ||
339 | |||
340 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
341 | public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh); | ||
342 | |||
343 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
344 | public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh); | ||
345 | |||
346 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
347 | public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); | ||
348 | */ | ||
349 | |||
350 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
351 | public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, | ||
352 | Vector3 frame1loc, Quaternion frame1rot, | ||
353 | Vector3 frame2loc, Quaternion frame2rot, | ||
354 | Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); | ||
355 | |||
356 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
357 | public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); | ||
358 | |||
359 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
360 | public static extern Vector3 GetPosition2(IntPtr obj); | ||
361 | |||
362 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
363 | public static extern Quaternion GetOrientation2(IntPtr obj); | ||
364 | |||
365 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
366 | public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); | ||
367 | |||
368 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
369 | public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); | ||
370 | |||
371 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
372 | public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); | ||
373 | |||
374 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
375 | public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); | ||
376 | |||
377 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
378 | public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); | ||
379 | |||
380 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
381 | public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); | ||
382 | |||
383 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
384 | public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); | ||
385 | |||
386 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
387 | public static extern bool SetDeactivationTime2(IntPtr obj, float val); | ||
388 | |||
389 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
390 | public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); | ||
391 | |||
392 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
393 | public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); | ||
394 | |||
395 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
396 | public static extern bool SetFriction2(IntPtr obj, float val); | ||
397 | |||
398 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
399 | public static extern bool SetRestitution2(IntPtr obj, float val); | ||
400 | |||
401 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
402 | public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); | ||
403 | |||
404 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
405 | public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); | ||
312 | 406 | ||
313 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 407 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
314 | public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags); | 408 | public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags); |
@@ -319,5 +413,35 @@ public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags); | |||
319 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 413 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
320 | public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags); | 414 | public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags); |
321 | 415 | ||
416 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
417 | public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); | ||
418 | |||
419 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
420 | public static extern bool UpdateInertiaTensor2(IntPtr obj); | ||
421 | |||
422 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
423 | public static extern bool SetGravity2(IntPtr obj, Vector3 val); | ||
424 | |||
425 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
426 | public static extern IntPtr ClearForces2(IntPtr obj); | ||
427 | |||
428 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
429 | public static extern bool SetMargin2(IntPtr obj, float val); | ||
430 | |||
431 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
432 | public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); | ||
433 | |||
434 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
435 | public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); | ||
436 | |||
437 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
438 | public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); | ||
439 | |||
440 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
441 | public static extern bool DestroyObject2(IntPtr world, uint id); | ||
442 | |||
443 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
444 | public static extern void DumpPhysicsStatistics2(IntPtr sim); | ||
445 | |||
322 | } | 446 | } |
323 | } | 447 | } |