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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
37// The physics engine controller class created at initialization
38public struct BulletSim
39{
40 public BulletSim(uint worldId, BSScene bss, IntPtr xx)
41 {
42 ptr = xx;
43 worldID = worldId;
44 physicsScene = bss;
45 }
46 public IntPtr ptr;
47 public uint worldID;
48 // The scene is only in here so very low level routines have a handle to print debug/error messages
49 public BSScene physicsScene;
50}
51
52// An allocated Bullet btRigidBody
53public struct BulletBody
54{
55 public BulletBody(uint id) : this(id, IntPtr.Zero)
56 {
57 }
58 public BulletBody(uint id, IntPtr xx)
59 {
60 ID = id;
61 ptr = xx;
62 collisionType = CollisionType.Static;
63 }
64 public IntPtr ptr;
65 public uint ID;
66 public CollisionType collisionType;
67
68 public void Clear()
69 {
70 ptr = IntPtr.Zero;
71 }
72 public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }
73
74 // Apply the specificed collision mask into the physical world
75 public void ApplyCollisionMask()
76 {
77 // Should assert the body has been added to the physical world.
78 // (The collision masks are stored in the collision proxy cache which only exists for
79 // a collision body that is in the world.)
80 BulletSimAPI.SetCollisionGroupMask2(ptr,
81 BulletSimData.CollisionTypeMasks[collisionType].group,
82 BulletSimData.CollisionTypeMasks[collisionType].mask);
83 }
84
85 public override string ToString()
86 {
87 StringBuilder buff = new StringBuilder();
88 buff.Append("<id=");
89 buff.Append(ID.ToString());
90 buff.Append(",p=");
91 buff.Append(ptr.ToString("X"));
92 buff.Append(",c=");
93 buff.Append(collisionType);
94 buff.Append(">");
95 return buff.ToString();
96 }
97}
98
99public struct BulletShape
100{
101 public BulletShape(IntPtr xx)
102 {
103 ptr = xx;
104 type=BSPhysicsShapeType.SHAPE_UNKNOWN;
105 shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
106 isNativeShape = false;
107 }
108 public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
109 {
110 ptr = xx;
111 type = typ;
112 shapeKey = 0;
113 isNativeShape = false;
114 }
115 public IntPtr ptr;
116 public BSPhysicsShapeType type;
117 public System.UInt64 shapeKey;
118 public bool isNativeShape;
119
120 public void Clear()
121 {
122 ptr = IntPtr.Zero;
123 }
124 public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }
125
126 public override string ToString()
127 {
128 StringBuilder buff = new StringBuilder();
129 buff.Append("<p=");
130 buff.Append(ptr.ToString("X"));
131 buff.Append(",s=");
132 buff.Append(type.ToString());
133 buff.Append(",k=");
134 buff.Append(shapeKey.ToString("X"));
135 buff.Append(",n=");
136 buff.Append(isNativeShape.ToString());
137 buff.Append(">");
138 return buff.ToString();
139 }
140}
141
142// An allocated Bullet btConstraint
143public struct BulletConstraint
144{
145 public BulletConstraint(IntPtr xx)
146 {
147 ptr = xx;
148 }
149 public IntPtr ptr;
150
151 public void Clear()
152 {
153 ptr = IntPtr.Zero;
154 }
155 public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
156}
157
158// An allocated HeightMapThing which holds various heightmap info.
159// Made a class rather than a struct so there would be only one
160// instance of this and C# will pass around pointers rather
161// than making copies.
162public class BulletHeightMapInfo
163{
164 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
165 ID = id;
166 Ptr = xx;
167 heightMap = hm;
168 terrainRegionBase = OMV.Vector3.Zero;
169 minCoords = new OMV.Vector3(100f, 100f, 25f);
170 maxCoords = new OMV.Vector3(101f, 101f, 26f);
171 minZ = maxZ = 0f;
172 sizeX = sizeY = 256f;
173 }
174 public uint ID;
175 public IntPtr Ptr;
176 public float[] heightMap;
177 public OMV.Vector3 terrainRegionBase;
178 public OMV.Vector3 minCoords;
179 public OMV.Vector3 maxCoords;
180 public float sizeX, sizeY;
181 public float minZ, maxZ;
182 public BulletShape terrainShape;
183 public BulletBody terrainBody;
184}
185
186// The general class of collsion object.
187public enum CollisionType
188{
189 Avatar,
190 Groundplane,
191 Terrain,
192 Static,
193 Dynamic,
194 VolumeDetect,
195 // Linkset, // A linkset proper should be either Static or Dynamic
196 LinksetChild,
197 Unknown
198};
199
200// Hold specification of group and mask collision flags for a CollisionType
201public struct CollisionTypeFilterGroup
202{
203 public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
204 {
205 type = t;
206 group = g;
207 mask = m;
208 }
209 public CollisionType type;
210 public uint group;
211 public uint mask;
212};
213
214 /*
215 // The collsion filters and masked are defined in one place -- don't want them scattered
216 AvatarGroup = BCharacterGroup,
217 AvatarMask = BAllGroup,
218 ObjectGroup = BSolidGroup,
219 ObjectMask = BAllGroup,
220 StaticObjectGroup = BStaticGroup,
221 StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
222 LinksetGroup = BLinksetGroup,
223 LinksetMask = BAllGroup,
224 LinksetChildGroup = BLinksetChildGroup,
225 LinksetChildMask = BNoneGroup, // Linkset children disappear from the world
226 VolumeDetectGroup = BSensorTrigger,
227 VolumeDetectMask = ~BSensorTrigger,
228 TerrainGroup = BTerrainGroup,
229 TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
230 GroundPlaneGroup = BGroundPlaneGroup,
231 GroundPlaneMask = BAllGroup
232 */
233
234public static class BulletSimData
235{
236
237// Map of collisionTypes to flags for collision groups and masks.
238// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
239// but, instead, user references to this dictionary. This makes finding and debugging
240// collision flag usage easier.
241public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
242 = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
243{
244 { CollisionType.Avatar,
245 new CollisionTypeFilterGroup(CollisionType.Avatar,
246 (uint)CollisionFilterGroups.BCharacterGroup,
247 (uint)CollisionFilterGroups.BAllGroup)
248 },
249 { CollisionType.Groundplane,
250 new CollisionTypeFilterGroup(CollisionType.Groundplane,
251 (uint)CollisionFilterGroups.BGroundPlaneGroup,
252 (uint)CollisionFilterGroups.BAllGroup)
253 },
254 { CollisionType.Terrain,
255 new CollisionTypeFilterGroup(CollisionType.Terrain,
256 (uint)CollisionFilterGroups.BTerrainGroup,
257 (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
258 },
259 { CollisionType.Static,
260 new CollisionTypeFilterGroup(CollisionType.Static,
261 (uint)CollisionFilterGroups.BStaticGroup,
262 (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
263 },
264 { CollisionType.Dynamic,
265 new CollisionTypeFilterGroup(CollisionType.Dynamic,
266 (uint)CollisionFilterGroups.BSolidGroup,
267 (uint)(CollisionFilterGroups.BAllGroup))
268 },
269 { CollisionType.VolumeDetect,
270 new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
271 (uint)CollisionFilterGroups.BSensorTrigger,
272 (uint)(~CollisionFilterGroups.BSensorTrigger))
273 },
274 { CollisionType.LinksetChild,
275 new CollisionTypeFilterGroup(CollisionType.LinksetChild,
276 (uint)CollisionFilterGroups.BTerrainGroup,
277 (uint)(CollisionFilterGroups.BNoneGroup))
278 },
279};
280
281}
282}
generated by cgit v1.1 at 2024-07-03 09:48:04 +0000