1 files changed, 31 insertions, 4 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index 5765b0d..6cdc112 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -70,6 +70,8 @@ public enum BSPhysicsShapeType
         SHAPE_COMPOUND  = 22,
         SHAPE_HEIGHTMAP = 23,
     SHAPE_AVATAR    = 24,
+    SHAPE_CONVEXHULL= 25,
+    SHAPE_GIMPACT   = 26,
 };
 
 // The native shapes have predefined shape hash keys
@@ -191,6 +193,21 @@ public struct ConfigurationParameters
     public const float numericFalse = 0f;
 }
 
+// Parameters passed for the conversion of a mesh to a hull using Bullet's HACD library.
+[StructLayout(LayoutKind.Sequential)]
+public struct HACDParams
+{
+                                            // usual default values
+        public float maxVerticesPerHull;                // 100
+        public float minClusters;                               // 2
+        public float compacityWeight;                   // 0.1
+        public float volumeWeight;                              // 0.0
+        public float concavity;                             // 100
+        public float addExtraDistPoints;                // false
+        public float addNeighboursDistPoints;   // false
+        public float addFacesPoints;                    // false
+        public float shouldAdjustCollisionMargin;       // false
+}
 
 // The states a bullet collision object can have
 public enum ActivationState : uint
@@ -282,7 +299,7 @@ public abstract class BSAPITemplate
 {
 // Returns the name of the underlying Bullet engine
 public abstract string BulletEngineName { get; }
-public abstract string BulletEngineVersion { get; protected set;} 
+public abstract string BulletEngineVersion { get; protected set;}
 
 // Initialization and simulation
 public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
@@ -305,10 +322,20 @@ public abstract BulletShape CreateMeshShape(BulletWorld world,
                 int indicesCount, int[] indices,
                 int verticesCount, float[] vertices );
 
+public abstract BulletShape CreateGImpactShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices );
+
 public abstract BulletShape CreateHullShape(BulletWorld world,
                 int hullCount, float[] hulls);
 
-public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
+public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms);
+
+public abstract BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
+
+public abstract BulletShape CreateConvexHullShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices );
 
 public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
 
@@ -351,7 +378,7 @@ public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
 // =====================================================================================
 public abstract BulletShape CreateGroundPlaneShape(UInt32 id, float height, float collisionMargin);
 
-public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 
+public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
                                                                 float scaleFactor, float collisionMargin);
 
 // =====================================================================================
@@ -366,7 +393,7 @@ public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
 public abstract BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
-                    Vector3 frameInBloc, Quaternion frameInBrot, 
+                    Vector3 frameInBloc, Quaternion frameInBrot,
                     bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
 
 public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,