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diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
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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// These classes are subclassed by the various physical implementations of
37// objects. In particular, there is a version for physical instances in
38// unmanaged memory ("unman") and one for in managed memory ("XNA").
39
40// Currently, the instances of these classes are a reference to a
41// physical representation and this has no releationship to other
42// instances. Someday, refarb the usage of these classes so each instance
43// refers to a particular physical instance and this class controls reference
44// counts and such. This should be done along with adding BSShapes.
45
46public class BulletWorld
47{
48 public BulletWorld(uint worldId, BSScene bss)
49 {
50 worldID = worldId;
51 physicsScene = bss;
52 }
53 public uint worldID;
54 // The scene is only in here so very low level routines have a handle to print debug/error messages
55 public BSScene physicsScene;
56}
57
58// An allocated Bullet btRigidBody
59public class BulletBody
60{
61 public BulletBody(uint id)
62 {
63 ID = id;
64 collisionType = CollisionType.Static;
65 }
66 public uint ID;
67 public CollisionType collisionType;
68
69 public virtual void Clear() { }
70 public virtual bool HasPhysicalBody { get { return false; } }
71
72 // Apply the specificed collision mask into the physical world
73 public virtual bool ApplyCollisionMask(BSScene physicsScene)
74 {
75 // Should assert the body has been added to the physical world.
76 // (The collision masks are stored in the collision proxy cache which only exists for
77 // a collision body that is in the world.)
78 return physicsScene.PE.SetCollisionGroupMask(this,
79 BulletSimData.CollisionTypeMasks[collisionType].group,
80 BulletSimData.CollisionTypeMasks[collisionType].mask);
81 }
82
83 // Used for log messages for a unique display of the memory/object allocated to this instance
84 public virtual string AddrString
85 {
86 get { return "unknown"; }
87 }
88
89 public override string ToString()
90 {
91 StringBuilder buff = new StringBuilder();
92 buff.Append("<id=");
93 buff.Append(ID.ToString());
94 buff.Append(",p=");
95 buff.Append(AddrString);
96 buff.Append(",c=");
97 buff.Append(collisionType);
98 buff.Append(">");
99 return buff.ToString();
100 }
101}
102
103public class BulletShape
104{
105 public BulletShape()
106 {
107 shapeType = BSPhysicsShapeType.SHAPE_UNKNOWN;
108 shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
109 isNativeShape = false;
110 }
111 public BSPhysicsShapeType shapeType;
112 public System.UInt64 shapeKey;
113 public bool isNativeShape;
114
115 public virtual void Clear() { }
116 public virtual bool HasPhysicalShape { get { return false; } }
117
118 // Make another reference to this physical object.
119 public virtual BulletShape Clone() { return new BulletShape(); }
120
121 // Return 'true' if this and other refer to the same physical object
122 public virtual bool ReferenceSame(BulletShape xx) { return false; }
123
124 // Used for log messages for a unique display of the memory/object allocated to this instance
125 public virtual string AddrString
126 {
127 get { return "unknown"; }
128 }
129
130 public override string ToString()
131 {
132 StringBuilder buff = new StringBuilder();
133 buff.Append("<p=");
134 buff.Append(AddrString);
135 buff.Append(",s=");
136 buff.Append(shapeType.ToString());
137 buff.Append(",k=");
138 buff.Append(shapeKey.ToString("X"));
139 buff.Append(",n=");
140 buff.Append(isNativeShape.ToString());
141 buff.Append(">");
142 return buff.ToString();
143 }
144}
145
146// An allocated Bullet btConstraint
147public class BulletConstraint
148{
149 public BulletConstraint()
150 {
151 }
152 public virtual void Clear() { }
153 public virtual bool HasPhysicalConstraint { get { return false; } }
154
155 // Used for log messages for a unique display of the memory/object allocated to this instance
156 public virtual string AddrString
157 {
158 get { return "unknown"; }
159 }
160}
161
162// An allocated HeightMapThing which holds various heightmap info.
163// Made a class rather than a struct so there would be only one
164// instance of this and C# will pass around pointers rather
165// than making copies.
166public class BulletHMapInfo
167{
168 public BulletHMapInfo(uint id, float[] hm, float pSizeX, float pSizeY) {
169 ID = id;
170 heightMap = hm;
171 terrainRegionBase = OMV.Vector3.Zero;
172 minCoords = new OMV.Vector3(100f, 100f, 25f);
173 maxCoords = new OMV.Vector3(101f, 101f, 26f);
174 minZ = maxZ = 0f;
175 sizeX = pSizeX;
176 sizeY = pSizeY;
177 }
178 public uint ID;
179 public float[] heightMap;
180 public OMV.Vector3 terrainRegionBase;
181 public OMV.Vector3 minCoords;
182 public OMV.Vector3 maxCoords;
183 public float sizeX, sizeY;
184 public float minZ, maxZ;
185 public BulletShape terrainShape;
186 public BulletBody terrainBody;
187}
188
189// The general class of collsion object.
190public enum CollisionType
191{
192 Avatar,
193 PhantomToOthersAvatar, // An avatar that it phantom to other avatars but not to anything else
194 Groundplane,
195 Terrain,
196 Static,
197 Dynamic,
198 VolumeDetect,
199 // Linkset, // A linkset should be either Static or Dynamic
200 LinksetChild,
201 Unknown
202};
203
204// Hold specification of group and mask collision flags for a CollisionType
205public struct CollisionTypeFilterGroup
206{
207 public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
208 {
209 type = t;
210 group = g;
211 mask = m;
212 }
213 public CollisionType type;
214 public uint group;
215 public uint mask;
216};
217
218public static class BulletSimData
219{
220
221// Map of collisionTypes to flags for collision groups and masks.
222// An object's 'group' is the collison groups this object belongs to
223// An object's 'filter' is the groups another object has to belong to in order to collide with me
224// A collision happens if ((obj1.group & obj2.filter) != 0) || ((obj2.group & obj1.filter) != 0)
225//
226// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
227// but, instead, use references to this dictionary. Finding and debugging
228// collision flag problems will be made easier.
229public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
230 = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
231{
232 { CollisionType.Avatar,
233 new CollisionTypeFilterGroup(CollisionType.Avatar,
234 (uint)CollisionFilterGroups.BCharacterGroup,
235 (uint)(CollisionFilterGroups.BAllGroup))
236 },
237 { CollisionType.PhantomToOthersAvatar,
238 new CollisionTypeFilterGroup(CollisionType.PhantomToOthersAvatar,
239 (uint)CollisionFilterGroups.BCharacterGroup,
240 (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BCharacterGroup))
241 },
242 { CollisionType.Groundplane,
243 new CollisionTypeFilterGroup(CollisionType.Groundplane,
244 (uint)CollisionFilterGroups.BGroundPlaneGroup,
245 // (uint)CollisionFilterGroups.BAllGroup)
246 (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
247 },
248 { CollisionType.Terrain,
249 new CollisionTypeFilterGroup(CollisionType.Terrain,
250 (uint)CollisionFilterGroups.BTerrainGroup,
251 (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
252 },
253 { CollisionType.Static,
254 new CollisionTypeFilterGroup(CollisionType.Static,
255 (uint)CollisionFilterGroups.BStaticGroup,
256 (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
257 },
258 { CollisionType.Dynamic,
259 new CollisionTypeFilterGroup(CollisionType.Dynamic,
260 (uint)CollisionFilterGroups.BSolidGroup,
261 (uint)(CollisionFilterGroups.BAllGroup))
262 },
263 { CollisionType.VolumeDetect,
264 new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
265 (uint)CollisionFilterGroups.BSensorTrigger,
266 (uint)(~CollisionFilterGroups.BSensorTrigger))
267 },
268 { CollisionType.LinksetChild,
269 new CollisionTypeFilterGroup(CollisionType.LinksetChild,
270 (uint)CollisionFilterGroups.BLinksetChildGroup,
271 (uint)(CollisionFilterGroups.BNoneGroup))
272 // (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
273 },
274};
275
276}
277}
generated by cgit v1.1 at 2024-11-05 13:21:33 +0000