aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
diff options
context:
space:
mode:
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs75
1 files changed, 40 insertions, 35 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 28fae13..4647c2d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -88,11 +88,11 @@ public struct BulletShape
88 public BulletShape(IntPtr xx) 88 public BulletShape(IntPtr xx)
89 { 89 {
90 ptr = xx; 90 ptr = xx;
91 type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; 91 type=PhysicsShapeType.SHAPE_UNKNOWN;
92 shapeKey = 0; 92 shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
93 isNativeShape = false; 93 isNativeShape = false;
94 } 94 }
95 public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) 95 public BulletShape(IntPtr xx, PhysicsShapeType typ)
96 { 96 {
97 ptr = xx; 97 ptr = xx;
98 type = typ; 98 type = typ;
@@ -100,7 +100,7 @@ public struct BulletShape
100 isNativeShape = false; 100 isNativeShape = false;
101 } 101 }
102 public IntPtr ptr; 102 public IntPtr ptr;
103 public ShapeData.PhysicsShapeType type; 103 public PhysicsShapeType type;
104 public System.UInt64 shapeKey; 104 public System.UInt64 shapeKey;
105 public bool isNativeShape; 105 public bool isNativeShape;
106 public override string ToString() 106 public override string ToString()
@@ -152,7 +152,7 @@ public class BulletHeightMapInfo
152 ID = id; 152 ID = id;
153 Ptr = xx; 153 Ptr = xx;
154 heightMap = hm; 154 heightMap = hm;
155 terrainRegionBase = new Vector2(0f, 0f); 155 terrainRegionBase = Vector3.Zero;
156 minCoords = new Vector3(100f, 100f, 25f); 156 minCoords = new Vector3(100f, 100f, 25f);
157 maxCoords = new Vector3(101f, 101f, 26f); 157 maxCoords = new Vector3(101f, 101f, 26f);
158 minZ = maxZ = 0f; 158 minZ = maxZ = 0f;
@@ -161,7 +161,7 @@ public class BulletHeightMapInfo
161 public uint ID; 161 public uint ID;
162 public IntPtr Ptr; 162 public IntPtr Ptr;
163 public float[] heightMap; 163 public float[] heightMap;
164 public Vector2 terrainRegionBase; 164 public Vector3 terrainRegionBase;
165 public Vector3 minCoords; 165 public Vector3 minCoords;
166 public Vector3 maxCoords; 166 public Vector3 maxCoords;
167 public float sizeX, sizeY; 167 public float sizeX, sizeY;
@@ -178,24 +178,37 @@ public struct ConvexHull
178 int VertexCount; 178 int VertexCount;
179 Vector3[] Vertices; 179 Vector3[] Vertices;
180} 180}
181public enum PhysicsShapeType
182{
183 SHAPE_UNKNOWN = 0,
184 SHAPE_CAPSULE = 1,
185 SHAPE_BOX = 2,
186 SHAPE_CONE = 3,
187 SHAPE_CYLINDER = 4,
188 SHAPE_SPHERE = 5,
189 SHAPE_MESH = 6,
190 SHAPE_HULL = 7,
191 // following defined by BulletSim
192 SHAPE_GROUNDPLANE = 20,
193 SHAPE_TERRAIN = 21,
194 SHAPE_COMPOUND = 22,
195 SHAPE_HEIGHTMAP = 23,
196};
197
198// The native shapes have predefined shape hash keys
199public enum FixedShapeKey : ulong
200{
201 KEY_NONE = 0,
202 KEY_BOX = 1,
203 KEY_SPHERE = 2,
204 KEY_CONE = 3,
205 KEY_CYLINDER = 4,
206 KEY_CAPSULE = 5,
207}
208
181[StructLayout(LayoutKind.Sequential)] 209[StructLayout(LayoutKind.Sequential)]
182public struct ShapeData 210public struct ShapeData
183{ 211{
184 public enum PhysicsShapeType
185 {
186 SHAPE_UNKNOWN = 0,
187 SHAPE_AVATAR = 1,
188 SHAPE_BOX = 2,
189 SHAPE_CONE = 3,
190 SHAPE_CYLINDER = 4,
191 SHAPE_SPHERE = 5,
192 SHAPE_MESH = 6,
193 SHAPE_HULL = 7,
194 // following defined by BulletSim
195 SHAPE_GROUNDPLANE = 20,
196 SHAPE_TERRAIN = 21,
197 SHAPE_COMPOUND = 22,
198 };
199 public uint ID; 212 public uint ID;
200 public PhysicsShapeType Type; 213 public PhysicsShapeType Type;
201 public Vector3 Position; 214 public Vector3 Position;
@@ -216,16 +229,6 @@ public struct ShapeData
216 // note that bools are passed as floats since bool size changes by language and architecture 229 // note that bools are passed as floats since bool size changes by language and architecture
217 public const float numericTrue = 1f; 230 public const float numericTrue = 1f;
218 public const float numericFalse = 0f; 231 public const float numericFalse = 0f;
219
220 // The native shapes have predefined shape hash keys
221 public enum FixedShapeKey : ulong
222 {
223 KEY_BOX = 1,
224 KEY_SPHERE = 2,
225 KEY_CONE = 3,
226 KEY_CYLINDER = 4,
227 KEY_CAPSULE = 5,
228 }
229} 232}
230[StructLayout(LayoutKind.Sequential)] 233[StructLayout(LayoutKind.Sequential)]
231public struct SweepHit 234public struct SweepHit
@@ -280,6 +283,7 @@ public struct ConfigurationParameters
280 public float ccdSweptSphereRadius; 283 public float ccdSweptSphereRadius;
281 public float contactProcessingThreshold; 284 public float contactProcessingThreshold;
282 285
286 public float terrainImplementation;
283 public float terrainFriction; 287 public float terrainFriction;
284 public float terrainHitFraction; 288 public float terrainHitFraction;
285 public float terrainRestitution; 289 public float terrainRestitution;
@@ -287,7 +291,8 @@ public struct ConfigurationParameters
287 public float avatarStandingFriction; 291 public float avatarStandingFriction;
288 public float avatarDensity; 292 public float avatarDensity;
289 public float avatarRestitution; 293 public float avatarRestitution;
290 public float avatarCapsuleRadius; 294 public float avatarCapsuleWidth;
295 public float avatarCapsuleDepth;
291 public float avatarCapsuleHeight; 296 public float avatarCapsuleHeight;
292 public float avatarContactProcessingThreshold; 297 public float avatarContactProcessingThreshold;
293 298
@@ -388,13 +393,13 @@ public enum CollisionFilterGroups : uint
388 ObjectFilter = BSolidFilter, 393 ObjectFilter = BSolidFilter,
389 ObjectMask = BAllFilter, 394 ObjectMask = BAllFilter,
390 StaticObjectFilter = BStaticFilter, 395 StaticObjectFilter = BStaticFilter,
391 StaticObjectMask = BAllFilter, 396 StaticObjectMask = BAllFilter & ~BStaticFilter, // static objects don't collide with each other
392 LinksetFilter = BLinksetFilter, 397 LinksetFilter = BLinksetFilter,
393 LinksetMask = BAllFilter & ~BLinksetFilter, 398 LinksetMask = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other
394 VolumeDetectFilter = BSensorTrigger, 399 VolumeDetectFilter = BSensorTrigger,
395 VolumeDetectMask = ~BSensorTrigger, 400 VolumeDetectMask = ~BSensorTrigger,
396 TerrainFilter = BTerrainFilter, 401 TerrainFilter = BTerrainFilter,
397 TerrainMask = BAllFilter & ~BStaticFilter, 402 TerrainMask = BAllFilter & ~BStaticFilter, // static objects on the ground don't collide
398 GroundPlaneFilter = BGroundPlaneFilter, 403 GroundPlaneFilter = BGroundPlaneFilter,
399 GroundPlaneMask = BAllFilter 404 GroundPlaneMask = BAllFilter
400 405