aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
diff options
context:
space:
mode:
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs63
1 files changed, 28 insertions, 35 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 0cc51b0..e7d8d14 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -174,7 +174,7 @@ public sealed class BSShapeCollection : IDisposable
174 174
175 // Zero any reference to the shape so it is not freed when the body is deleted. 175 // Zero any reference to the shape so it is not freed when the body is deleted.
176 BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); 176 BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
177 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); 177 PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
178 }); 178 });
179 } 179 }
180 } 180 }
@@ -261,7 +261,7 @@ public sealed class BSShapeCollection : IDisposable
261 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", 261 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
262 BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); 262 BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
263 if (shapeCallback != null) shapeCallback(shape); 263 if (shapeCallback != null) shapeCallback(shape);
264 BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); 264 PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
265 } 265 }
266 else 266 else
267 { 267 {
@@ -342,26 +342,26 @@ public sealed class BSShapeCollection : IDisposable
342 return; 342 return;
343 } 343 }
344 344
345 int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr); 345 int numChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(shape);
346 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren); 346 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
347 347
348 for (int ii = numChildren - 1; ii >= 0; ii--) 348 for (int ii = numChildren - 1; ii >= 0; ii--)
349 { 349 {
350 IntPtr childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii); 350 BulletShape childShape = PhysicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(shape, ii);
351 DereferenceAnonCollisionShape(childShape); 351 DereferenceAnonCollisionShape(childShape);
352 } 352 }
353 BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); 353 PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
354 } 354 }
355 355
356 // Sometimes we have a pointer to a collision shape but don't know what type it is. 356 // Sometimes we have a pointer to a collision shape but don't know what type it is.
357 // Figure out type and call the correct dereference routine. 357 // Figure out type and call the correct dereference routine.
358 // Called at taint-time. 358 // Called at taint-time.
359 private void DereferenceAnonCollisionShape(IntPtr cShape) 359 private void DereferenceAnonCollisionShape(BulletShape shapeInfo)
360 { 360 {
361 MeshDesc meshDesc; 361 MeshDesc meshDesc;
362 HullDesc hullDesc; 362 HullDesc hullDesc;
363 363
364 BulletShape shapeInfo = new BulletShape(cShape); 364 IntPtr cShape = shapeInfo.ptr;
365 if (TryGetMeshByPtr(cShape, out meshDesc)) 365 if (TryGetMeshByPtr(cShape, out meshDesc))
366 { 366 {
367 shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; 367 shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
@@ -382,7 +382,7 @@ public sealed class BSShapeCollection : IDisposable
382 } 382 }
383 else 383 else
384 { 384 {
385 if (BulletSimAPI.IsNativeShape2(cShape)) 385 if (PhysicsScene.PE.IsNativeShape(shapeInfo))
386 { 386 {
387 shapeInfo.isNativeShape = true; 387 shapeInfo.isNativeShape = true;
388 shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) 388 shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
@@ -570,19 +570,15 @@ public sealed class BSShapeCollection : IDisposable
570 570
571 if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) 571 if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
572 { 572 {
573 // The proper scale has been calculated in the prim. 573
574 newShape = new BulletShape( 574 newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale);
575 // Bullet's capsule total height is the passed "height + (radius * 2)" so, the base
576 // capsule is radius of 0.5f (1 diameter) and height of two (1.0f + 0.5f * 2)".
577 // This must be taken into account when computing the scaling of the capsule.
578 BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
579 , shapeType);
580 if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); 575 if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
581 } 576 }
582 else 577 else
583 { 578 {
584 // Native shapes are scaled in Bullet so set the scaling to the size 579 // Native shapes are scaled in Bullet so set the scaling to the size
585 newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); 580 newShape = PhysicsScene.PE.BuildNativeShape(PhysicsScene.World, nativeShapeData);
581
586 } 582 }
587 if (!newShape.HasPhysicalShape) 583 if (!newShape.HasPhysicalShape)
588 { 584 {
@@ -629,13 +625,14 @@ public sealed class BSShapeCollection : IDisposable
629 625
630 private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) 626 private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
631 { 627 {
628 BulletShape newShape = new BulletShape();
632 IMesh meshData = null; 629 IMesh meshData = null;
633 IntPtr meshPtr = IntPtr.Zero; 630
634 MeshDesc meshDesc; 631 MeshDesc meshDesc;
635 if (Meshes.TryGetValue(newMeshKey, out meshDesc)) 632 if (Meshes.TryGetValue(newMeshKey, out meshDesc))
636 { 633 {
637 // If the mesh has already been built just use it. 634 // If the mesh has already been built just use it.
638 meshPtr = meshDesc.ptr; 635 newShape = new BulletShape(meshDesc.ptr, BSPhysicsShapeType.SHAPE_MESH);
639 } 636 }
640 else 637 else
641 { 638 {
@@ -658,11 +655,10 @@ public sealed class BSShapeCollection : IDisposable
658 // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", 655 // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
659 // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); 656 // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
660 657
661 meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, 658 newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World,
662 indices.GetLength(0), indices, vertices.Count, verticesAsFloats); 659 indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
663 } 660 }
664 } 661 }
665 BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH);
666 newShape.shapeKey = newMeshKey; 662 newShape.shapeKey = newMeshKey;
667 663
668 return newShape; 664 return newShape;
@@ -700,12 +696,14 @@ public sealed class BSShapeCollection : IDisposable
700 private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) 696 private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
701 { 697 {
702 698
699 BulletShape newShape = new BulletShape();
703 IntPtr hullPtr = IntPtr.Zero; 700 IntPtr hullPtr = IntPtr.Zero;
701
704 HullDesc hullDesc; 702 HullDesc hullDesc;
705 if (Hulls.TryGetValue(newHullKey, out hullDesc)) 703 if (Hulls.TryGetValue(newHullKey, out hullDesc))
706 { 704 {
707 // If the hull shape already is created, just use it. 705 // If the hull shape already is created, just use it.
708 hullPtr = hullDesc.ptr; 706 newShape = new BulletShape(hullDesc.ptr, BSPhysicsShapeType.SHAPE_HULL);
709 } 707 }
710 else 708 else
711 { 709 {
@@ -793,11 +791,10 @@ public sealed class BSShapeCollection : IDisposable
793 } 791 }
794 } 792 }
795 // create the hull data structure in Bullet 793 // create the hull data structure in Bullet
796 hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); 794 newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
797 } 795 }
798 } 796 }
799 797
800 BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
801 newShape.shapeKey = newHullKey; 798 newShape.shapeKey = newHullKey;
802 799
803 return newShape; 800 return newShape;
@@ -819,12 +816,12 @@ public sealed class BSShapeCollection : IDisposable
819 // Don't need to do this as the shape is freed when the new root shape is created below. 816 // Don't need to do this as the shape is freed when the new root shape is created below.
820 // DereferenceShape(prim.PhysShape, true, shapeCallback); 817 // DereferenceShape(prim.PhysShape, true, shapeCallback);
821 818
822 BulletShape cShape = new BulletShape( 819
823 BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND); 820 BulletShape cShape = PhysicsScene.PE.CreateCompoundShape(PhysicsScene.World, false);
824 821
825 // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. 822 // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
826 CreateGeomMeshOrHull(prim, shapeCallback); 823 CreateGeomMeshOrHull(prim, shapeCallback);
827 BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity); 824 PhysicsScene.PE.AddChildShapeToCompoundShape(cShape, prim.PhysShape, OMV.Vector3.Zero, OMV.Quaternion.Identity);
828 if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}", 825 if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
829 prim.LocalID, cShape, prim.PhysShape); 826 prim.LocalID, cShape, prim.PhysShape);
830 827
@@ -932,7 +929,7 @@ public sealed class BSShapeCollection : IDisposable
932 // If not a solid object, body is a GhostObject. Otherwise a RigidBody. 929 // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
933 if (!mustRebuild) 930 if (!mustRebuild)
934 { 931 {
935 CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr); 932 CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(prim.PhysBody);
936 if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY 933 if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
937 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) 934 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
938 { 935 {
@@ -947,20 +944,16 @@ public sealed class BSShapeCollection : IDisposable
947 DereferenceBody(prim.PhysBody, true, bodyCallback); 944 DereferenceBody(prim.PhysBody, true, bodyCallback);
948 945
949 BulletBody aBody; 946 BulletBody aBody;
950 IntPtr bodyPtr = IntPtr.Zero;
951 if (prim.IsSolid) 947 if (prim.IsSolid)
952 { 948 {
953 bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, 949 aBody = PhysicsScene.PE.CreateBodyFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
954 prim.LocalID, prim.RawPosition, prim.RawOrientation); 950 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody);
955 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
956 } 951 }
957 else 952 else
958 { 953 {
959 bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, 954 aBody = PhysicsScene.PE.CreateGhostFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
960 prim.LocalID, prim.RawPosition, prim.RawOrientation); 955 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
961 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
962 } 956 }
963 aBody = new BulletBody(prim.LocalID, bodyPtr);
964 957
965 ReferenceBody(aBody, true); 958 ReferenceBody(aBody, true);
966 959