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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs5
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs9
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs193
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs3
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs29
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs5
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs4
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs5
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs183
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs278
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt7
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsActor.cs13
12 files changed, 433 insertions, 301 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index c8aad8d..0defb24 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -167,9 +167,8 @@ public sealed class BSCharacter : BSPhysObject
167 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); 167 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
168 168
169 // Do this after the object has been added to the world 169 // Do this after the object has been added to the world
170 BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, 170 PhysBody.collisionType = CollisionType.Avatar;
171 (uint)CollisionFilterGroups.AvatarGroup, 171 PhysBody.ApplyCollisionMask();
172 (uint)CollisionFilterGroups.AvatarMask);
173 } 172 }
174 173
175 public override void RequestPhysicsterseUpdate() 174 public override void RequestPhysicsterseUpdate()
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 777c5cb..ce0fbe6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -124,7 +124,7 @@ public abstract class BSLinkset
124 get { return ComputeLinksetGeometricCenter(); } 124 get { return ComputeLinksetGeometricCenter(); }
125 } 125 }
126 126
127 protected void Initialize(BSScene scene, BSPhysObject parent) 127 protected BSLinkset(BSScene scene, BSPhysObject parent)
128 { 128 {
129 // A simple linkset of one (no children) 129 // A simple linkset of one (no children)
130 LinksetID = m_nextLinksetID++; 130 LinksetID = m_nextLinksetID++;
@@ -135,6 +135,7 @@ public abstract class BSLinkset
135 LinksetRoot = parent; 135 LinksetRoot = parent;
136 m_children = new HashSet<BSPhysObject>(); 136 m_children = new HashSet<BSPhysObject>();
137 m_mass = parent.RawMass; 137 m_mass = parent.RawMass;
138 Rebuilding = false;
138 } 139 }
139 140
140 // Link to a linkset where the child knows the parent. 141 // Link to a linkset where the child knows the parent.
@@ -227,7 +228,7 @@ public abstract class BSLinkset
227 // I am the root of a linkset and a new child is being added 228 // I am the root of a linkset and a new child is being added
228 // Called while LinkActivity is locked. 229 // Called while LinkActivity is locked.
229 protected abstract void AddChildToLinkset(BSPhysObject child); 230 protected abstract void AddChildToLinkset(BSPhysObject child);
230 231
231 // I am the root of a linkset and one of my children is being removed. 232 // I am the root of a linkset and one of my children is being removed.
232 // Safe to call even if the child is not really in my linkset. 233 // Safe to call even if the child is not really in my linkset.
233 protected abstract void RemoveChildFromLinkset(BSPhysObject child); 234 protected abstract void RemoveChildFromLinkset(BSPhysObject child);
@@ -237,6 +238,10 @@ public abstract class BSLinkset
237 // May be called at runtime or taint-time. 238 // May be called at runtime or taint-time.
238 public abstract void Refresh(BSPhysObject requestor); 239 public abstract void Refresh(BSPhysObject requestor);
239 240
241 // Flag denoting the linkset is in the process of being rebuilt.
242 // Used to know not the schedule a rebuild in the middle of a rebuild.
243 protected bool Rebuilding { get; set; }
244
240 // The object is going dynamic (physical). Do any setup necessary 245 // The object is going dynamic (physical). Do any setup necessary
241 // for a dynamic linkset. 246 // for a dynamic linkset.
242 // Only the state of the passed object can be modified. The rest of the linkset 247 // Only the state of the passed object can be modified. The rest of the linkset
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index d2abdb4..2189468 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -61,9 +61,8 @@ public sealed class BSLinksetCompound : BSLinkset
61{ 61{
62 private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; 62 private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
63 63
64 public BSLinksetCompound(BSScene scene, BSPhysObject parent) 64 public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
65 { 65 {
66 base.Initialize(scene, parent);
67 } 66 }
68 67
69 // For compound implimented linksets, if there are children, use compound shape for the root. 68 // For compound implimented linksets, if there are children, use compound shape for the root.
@@ -81,8 +80,6 @@ public sealed class BSLinksetCompound : BSLinkset
81 80
82 // When physical properties are changed the linkset needs to recalculate 81 // When physical properties are changed the linkset needs to recalculate
83 // its internal properties. 82 // its internal properties.
84 // This is queued in the 'post taint' queue so the
85 // refresh will happen once after all the other taints are applied.
86 public override void Refresh(BSPhysObject requestor) 83 public override void Refresh(BSPhysObject requestor)
87 { 84 {
88 // External request for Refresh (from BSPrim) doesn't need to do anything 85 // External request for Refresh (from BSPrim) doesn't need to do anything
@@ -92,12 +89,18 @@ public sealed class BSLinksetCompound : BSLinkset
92 // Schedule a refresh to happen after all the other taint processing. 89 // Schedule a refresh to happen after all the other taint processing.
93 private void InternalRefresh(BSPhysObject requestor) 90 private void InternalRefresh(BSPhysObject requestor)
94 { 91 {
95 DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID); 92 DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1},rebuilding={2}",
96 PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() 93 LinksetRoot.LocalID, requestor.LocalID, Rebuilding);
94 // When rebuilding, it is possible to set properties that would normally require a rebuild.
95 // If already rebuilding, don't request another rebuild.
96 if (!Rebuilding)
97 { 97 {
98 if (IsRoot(requestor) && HasAnyChildren) 98 PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate()
99 RecomputeLinksetCompound(); 99 {
100 }); 100 if (IsRoot(requestor) && HasAnyChildren)
101 RecomputeLinksetCompound();
102 });
103 }
101 } 104 }
102 105
103 // The object is going dynamic (physical). Do any setup necessary 106 // The object is going dynamic (physical). Do any setup necessary
@@ -114,6 +117,8 @@ public sealed class BSLinksetCompound : BSLinkset
114 { 117 {
115 // The root is going dynamic. Make sure mass is properly set. 118 // The root is going dynamic. Make sure mass is properly set.
116 m_mass = ComputeLinksetMass(); 119 m_mass = ComputeLinksetMass();
120 if (HasAnyChildren)
121 InternalRefresh(LinksetRoot);
117 } 122 }
118 else 123 else
119 { 124 {
@@ -123,6 +128,9 @@ public sealed class BSLinksetCompound : BSLinkset
123 BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); 128 BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
124 // We don't want collisions from the old linkset children. 129 // We don't want collisions from the old linkset children.
125 BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 130 BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
131
132 child.PhysBody.collisionType = CollisionType.LinksetChild;
133
126 ret = true; 134 ret = true;
127 } 135 }
128 return ret; 136 return ret;
@@ -137,10 +145,18 @@ public sealed class BSLinksetCompound : BSLinkset
137 { 145 {
138 bool ret = false; 146 bool ret = false;
139 DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); 147 DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
140 if (!IsRoot(child)) 148 if (IsRoot(child))
149 {
150 if (HasAnyChildren)
151 InternalRefresh(LinksetRoot);
152 }
153 else
141 { 154 {
142 // The non-physical children can come back to life. 155 // The non-physical children can come back to life.
143 BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); 156 BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
157
158 child.PhysBody.collisionType = CollisionType.LinksetChild;
159
144 // Don't force activation so setting of DISABLE_SIMULATION can stay if used. 160 // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
145 BulletSimAPI.Activate2(child.PhysBody.ptr, false); 161 BulletSimAPI.Activate2(child.PhysBody.ptr, false);
146 ret = true; 162 ret = true;
@@ -182,19 +198,25 @@ public sealed class BSLinksetCompound : BSLinkset
182 // Because it is a convenient time, recompute child world position and rotation based on 198 // Because it is a convenient time, recompute child world position and rotation based on
183 // its position in the linkset. 199 // its position in the linkset.
184 RecomputeChildWorldPosition(child, true); 200 RecomputeChildWorldPosition(child, true);
185
186 // Cause the current shape to be freed and the new one to be built.
187 InternalRefresh(LinksetRoot);
188 ret = true;
189 } 201 }
190 202
203 // Cannot schedule a refresh/rebuild here because this routine is called when
204 // the linkset is being rebuilt.
205 // InternalRefresh(LinksetRoot);
206
191 return ret; 207 return ret;
192 } 208 }
193 209
194 // When the linkset is built, the child shape is added 210 // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
195 // to the compound shape relative to the root shape. The linkset then moves around but 211 // this routine will restore the removed constraints.
196 // this does not move the actual child prim. The child prim's location must be recomputed 212 // Called at taint-time!!
197 // based on the location of the root shape. 213 public override void RestoreBodyDependencies(BSPrim child)
214 {
215 }
216
217 // When the linkset is built, the child shape is added to the compound shape relative to the
218 // root shape. The linkset then moves around but this does not move the actual child
219 // prim. The child prim's location must be recomputed based on the location of the root shape.
198 private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) 220 private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
199 { 221 {
200 BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; 222 BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
@@ -227,14 +249,6 @@ public sealed class BSLinksetCompound : BSLinkset
227 } 249 }
228 } 250 }
229 251
230 // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
231 // this routine will restore the removed constraints.
232 // Called at taint-time!!
233 public override void RestoreBodyDependencies(BSPrim child)
234 {
235 // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
236 }
237
238 // ================================================================ 252 // ================================================================
239 253
240 // Add a new child to the linkset. 254 // Add a new child to the linkset.
@@ -254,7 +268,7 @@ public sealed class BSLinksetCompound : BSLinkset
254 } 268 }
255 269
256 // Remove the specified child from the linkset. 270 // Remove the specified child from the linkset.
257 // Safe to call even if the child is not really in my linkset. 271 // Safe to call even if the child is not really in the linkset.
258 protected override void RemoveChildFromLinkset(BSPhysObject child) 272 protected override void RemoveChildFromLinkset(BSPhysObject child)
259 { 273 {
260 if (m_children.Remove(child)) 274 if (m_children.Remove(child))
@@ -289,74 +303,83 @@ public sealed class BSLinksetCompound : BSLinkset
289 // Called at taint time!! 303 // Called at taint time!!
290 private void RecomputeLinksetCompound() 304 private void RecomputeLinksetCompound()
291 { 305 {
292 // Cause the root shape to be rebuilt as a compound object with just the root in it 306 try
293 LinksetRoot.ForceBodyShapeRebuild(true); 307 {
308 // Suppress rebuilding while rebuilding
309 Rebuilding = true;
294 310
295 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", 311 // Cause the root shape to be rebuilt as a compound object with just the root in it
296 LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); 312 LinksetRoot.ForceBodyShapeRebuild(true);
297 313
298 // Add a shape for each of the other children in the linkset 314 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
299 ForEachMember(delegate(BSPhysObject cPrim) 315 LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
300 { 316
301 if (!IsRoot(cPrim)) 317 // Add a shape for each of the other children in the linkset
318 ForEachMember(delegate(BSPhysObject cPrim)
302 { 319 {
303 // Compute the displacement of the child from the root of the linkset. 320 if (!IsRoot(cPrim))
304 // This info is saved in the child prim so the relationship does not
305 // change over time and the new child position can be computed
306 // when the linkset is being disassembled (the linkset may have moved).
307 BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
308 if (lci == null)
309 { 321 {
310 // Each child position and rotation is given relative to the root. 322 // Compute the displacement of the child from the root of the linkset.
311 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); 323 // This info is saved in the child prim so the relationship does not
312 OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; 324 // change over time and the new child position can be computed
313 OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; 325 // when the linkset is being disassembled (the linkset may have moved).
314 326 BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
315 // Save relative position for recomputing child's world position after moving linkset. 327 if (lci == null)
316 lci = new BSLinksetCompoundInfo(displacementPos, displacementRot); 328 {
317 cPrim.LinksetInfo = lci; 329 // Each child position and rotation is given relative to the root.
318 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); 330 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
319 } 331 OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
332 OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
333
334 // Save relative position for recomputing child's world position after moving linkset.
335 lci = new BSLinksetCompoundInfo(displacementPos, displacementRot);
336 cPrim.LinksetInfo = lci;
337 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
338 }
320 339
321 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", 340 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
322 LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); 341 LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
323 342
324 if (cPrim.PhysShape.isNativeShape) 343 if (cPrim.PhysShape.isNativeShape)
325 { 344 {
326 // A native shape is turning into a hull collision shape because native 345 // A native shape is turning into a hull collision shape because native
327 // shapes are not shared so we have to hullify it so it will be tracked 346 // shapes are not shared so we have to hullify it so it will be tracked
328 // and freed at the correct time. This also solves the scaling problem 347 // and freed at the correct time. This also solves the scaling problem
329 // (native shapes scaled but hull/meshes are assumed to not be). 348 // (native shapes scaled but hull/meshes are assumed to not be).
330 // TODO: decide of the native shape can just be used in the compound shape. 349 // TODO: decide of the native shape can just be used in the compound shape.
331 // Use call to CreateGeomNonSpecial(). 350 // Use call to CreateGeomNonSpecial().
332 BulletShape saveShape = cPrim.PhysShape; 351 BulletShape saveShape = cPrim.PhysShape;
333 cPrim.PhysShape.Clear(); // Don't let the create free the child's shape 352 cPrim.PhysShape.Clear(); // Don't let the create free the child's shape
334 // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null); 353 // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
335 PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); 354 PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
336 BulletShape newShape = cPrim.PhysShape; 355 BulletShape newShape = cPrim.PhysShape;
337 cPrim.PhysShape = saveShape; 356 cPrim.PhysShape = saveShape;
338 BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos , lci.OffsetRot); 357 BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot);
339 } 358 }
340 else 359 else
341 {
342 // For the shared shapes (meshes and hulls), just use the shape in the child.
343 // The reference count added here will be decremented when the compound shape
344 // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
345 if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
346 { 360 {
347 PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", 361 // For the shared shapes (meshes and hulls), just use the shape in the child.
348 LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); 362 // The reference count added here will be decremented when the compound shape
363 // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
364 if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
365 {
366 PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
367 LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
368 }
369 BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot);
349 } 370 }
350 BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos , lci.OffsetRot);
351 } 371 }
352 } 372 return false; // 'false' says to move onto the next child in the list
353 373 });
354 return false; // 'false' says to move onto the next child in the list
355 });
356 374
357 // With all of the linkset packed into the root prim, it has the mass of everyone. 375 // With all of the linkset packed into the root prim, it has the mass of everyone.
358 float linksetMass = LinksetMass; 376 float linksetMass = LinksetMass;
359 LinksetRoot.UpdatePhysicalMassProperties(linksetMass); 377 LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
378 }
379 finally
380 {
381 Rebuilding = false;
382 }
360 383
361 BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr); 384 BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
362 385
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index c855fda..732c084 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -36,9 +36,8 @@ public sealed class BSLinksetConstraints : BSLinkset
36{ 36{
37 // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; 37 // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
38 38
39 public BSLinksetConstraints(BSScene scene, BSPhysObject parent) 39 public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
40 { 40 {
41 base.Initialize(scene, parent);
42 } 41 }
43 42
44 // When physical properties are changed the linkset needs to recalculate 43 // When physical properties are changed the linkset needs to recalculate
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 19c29cc..c9c9c2c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -661,14 +661,7 @@ public sealed class BSPrim : BSPhysObject
661 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); 661 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
662 662
663 // Collision filter can be set only when the object is in the world 663 // Collision filter can be set only when the object is in the world
664 if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0) 664 PhysBody.ApplyCollisionMask();
665 {
666 if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask))
667 {
668 PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}",
669 LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask);
670 }
671 }
672 665
673 // Recompute any linkset parameters. 666 // Recompute any linkset parameters.
674 // When going from non-physical to physical, this re-enables the constraints that 667 // When going from non-physical to physical, this re-enables the constraints that
@@ -713,11 +706,11 @@ public sealed class BSPrim : BSPhysObject
713 // Start it out sleeping and physical actions could wake it up. 706 // Start it out sleeping and physical actions could wake it up.
714 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); 707 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
715 708
709 // This collides like a static object
710 PhysBody.collisionType = CollisionType.Static;
711
716 // There can be special things needed for implementing linksets 712 // There can be special things needed for implementing linksets
717 Linkset.MakeStatic(this); 713 Linkset.MakeStatic(this);
718
719 PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup;
720 PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
721 } 714 }
722 else 715 else
723 { 716 {
@@ -755,16 +748,15 @@ public sealed class BSPrim : BSPhysObject
755 BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); 748 BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
756 BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); 749 BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
757 750
758 // There might be special things needed for implementing linksets. 751 // This collides like an object.
759 Linkset.MakeDynamic(this); 752 PhysBody.collisionType = CollisionType.Dynamic;
760 753
761 // Force activation of the object so Bullet will act on it. 754 // Force activation of the object so Bullet will act on it.
762 // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. 755 // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
763 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); 756 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
764 // BulletSimAPI.Activate2(BSBody.ptr, true);
765 757
766 PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup; 758 // There might be special things needed for implementing linksets.
767 PhysBody.collisionMask = CollisionFilterGroups.ObjectMask; 759 Linkset.MakeDynamic(this);
768 } 760 }
769 } 761 }
770 762
@@ -791,8 +783,9 @@ public sealed class BSPrim : BSPhysObject
791 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); 783 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
792 } 784 }
793 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); 785 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
794 PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup; 786
795 PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; 787 // Change collision info from a static object to a ghosty collision object
788 PhysBody.collisionType = CollisionType.VolumeDetect;
796 } 789 }
797 } 790 }
798 791
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 2d379bb..2b120d6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -121,9 +121,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
121 // redo its bounding box now that it is in the world 121 // redo its bounding box now that it is in the world
122 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); 122 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
123 123
124 BulletSimAPI.SetCollisionGroupMask2(m_mapInfo.terrainBody.ptr, 124 m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
125 (uint)CollisionFilterGroups.TerrainGroup, 125 m_mapInfo.terrainBody.ApplyCollisionMask();
126 (uint)CollisionFilterGroups.TerrainMask);
127 126
128 // Make it so the terrain will not move or be considered for movement. 127 // Make it so the terrain will not move or be considered for movement.
129 BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); 128 BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index c28d69d..5dbd8ce 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -140,8 +140,8 @@ public sealed class BSTerrainManager
140 // Ground plane does not move 140 // Ground plane does not move
141 BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); 141 BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
142 // Everything collides with the ground plane. 142 // Everything collides with the ground plane.
143 BulletSimAPI.SetCollisionGroupMask2(m_groundPlane.ptr, 143 m_groundPlane.collisionType = CollisionType.Groundplane;
144 (uint)CollisionFilterGroups.GroundPlaneGroup, (uint)CollisionFilterGroups.GroundPlaneMask); 144 m_groundPlane.ApplyCollisionMask();
145 145
146 // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. 146 // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
147 BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); 147 BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index 3473006..6dc0d92 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -130,9 +130,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys
130 // Redo its bounding box now that it is in the world 130 // Redo its bounding box now that it is in the world
131 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); 131 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
132 132
133 BulletSimAPI.SetCollisionGroupMask2(m_terrainBody.ptr, 133 m_terrainBody.collisionType = CollisionType.Terrain;
134 (uint)CollisionFilterGroups.TerrainGroup, 134 m_terrainBody.ApplyCollisionMask();
135 (uint)CollisionFilterGroups.TerrainMask);
136 135
137 // Make it so the terrain will not move or be considered for movement. 136 // Make it so the terrain will not move or be considered for movement.
138 BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); 137 BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 1559025..962b540 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -25,6 +25,7 @@
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic;
28using System.Runtime.InteropServices; 29using System.Runtime.InteropServices;
29using System.Security; 30using System.Security;
30using System.Text; 31using System.Text;
@@ -32,110 +33,6 @@ using OpenMetaverse;
32 33
33namespace OpenSim.Region.Physics.BulletSPlugin { 34namespace OpenSim.Region.Physics.BulletSPlugin {
34 35
35// Classes to allow some type checking for the API
36// These hold pointers to allocated objects in the unmanaged space.
37
38// The physics engine controller class created at initialization
39public struct BulletSim
40{
41 public BulletSim(uint worldId, BSScene bss, IntPtr xx)
42 {
43 ptr = xx;
44 worldID = worldId;
45 physicsScene = bss;
46 }
47 public IntPtr ptr;
48 public uint worldID;
49 // The scene is only in here so very low level routines have a handle to print debug/error messages
50 public BSScene physicsScene;
51}
52
53// An allocated Bullet btRigidBody
54public struct BulletBody
55{
56 public BulletBody(uint id) : this(id, IntPtr.Zero)
57 {
58 }
59 public BulletBody(uint id, IntPtr xx)
60 {
61 ID = id;
62 ptr = xx;
63 collisionGroup = 0;
64 collisionMask = 0;
65 }
66 public IntPtr ptr;
67 public uint ID;
68 public CollisionFilterGroups collisionGroup;
69 public CollisionFilterGroups collisionMask;
70
71 public void Clear()
72 {
73 ptr = IntPtr.Zero;
74 }
75 public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }
76
77 public override string ToString()
78 {
79 StringBuilder buff = new StringBuilder();
80 buff.Append("<id=");
81 buff.Append(ID.ToString());
82 buff.Append(",p=");
83 buff.Append(ptr.ToString("X"));
84 if (collisionGroup != 0 || collisionMask != 0)
85 {
86 buff.Append(",g=");
87 buff.Append(collisionGroup.ToString("X"));
88 buff.Append(",m=");
89 buff.Append(collisionMask.ToString("X"));
90 }
91 buff.Append(">");
92 return buff.ToString();
93 }
94}
95
96public struct BulletShape
97{
98 public BulletShape(IntPtr xx)
99 {
100 ptr = xx;
101 type=BSPhysicsShapeType.SHAPE_UNKNOWN;
102 shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
103 isNativeShape = false;
104 }
105 public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
106 {
107 ptr = xx;
108 type = typ;
109 shapeKey = 0;
110 isNativeShape = false;
111 }
112 public IntPtr ptr;
113 public BSPhysicsShapeType type;
114 public System.UInt64 shapeKey;
115 public bool isNativeShape;
116
117 public void Clear()
118 {
119 ptr = IntPtr.Zero;
120 }
121 public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }
122
123 public override string ToString()
124 {
125 StringBuilder buff = new StringBuilder();
126 buff.Append("<p=");
127 buff.Append(ptr.ToString("X"));
128 buff.Append(",s=");
129 buff.Append(type.ToString());
130 buff.Append(",k=");
131 buff.Append(shapeKey.ToString("X"));
132 buff.Append(",n=");
133 buff.Append(isNativeShape.ToString());
134 buff.Append(">");
135 return buff.ToString();
136 }
137}
138
139 // Constraint type values as defined by Bullet 36 // Constraint type values as defined by Bullet
140public enum ConstraintType : int 37public enum ConstraintType : int
141{ 38{
@@ -149,50 +46,6 @@ public enum ConstraintType : int
149 MAX_CONSTRAINT_TYPE 46 MAX_CONSTRAINT_TYPE
150} 47}
151 48
152// An allocated Bullet btConstraint
153public struct BulletConstraint
154{
155 public BulletConstraint(IntPtr xx)
156 {
157 ptr = xx;
158 }
159 public IntPtr ptr;
160
161 public void Clear()
162 {
163 ptr = IntPtr.Zero;
164 }
165 public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
166}
167
168// An allocated HeightMapThing which holds various heightmap info.
169// Made a class rather than a struct so there would be only one
170// instance of this and C# will pass around pointers rather
171// than making copies.
172public class BulletHeightMapInfo
173{
174 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
175 ID = id;
176 Ptr = xx;
177 heightMap = hm;
178 terrainRegionBase = Vector3.Zero;
179 minCoords = new Vector3(100f, 100f, 25f);
180 maxCoords = new Vector3(101f, 101f, 26f);
181 minZ = maxZ = 0f;
182 sizeX = sizeY = 256f;
183 }
184 public uint ID;
185 public IntPtr Ptr;
186 public float[] heightMap;
187 public Vector3 terrainRegionBase;
188 public Vector3 minCoords;
189 public Vector3 maxCoords;
190 public float sizeX, sizeY;
191 public float minZ, maxZ;
192 public BulletShape terrainShape;
193 public BulletBody terrainBody;
194}
195
196// =============================================================================== 49// ===============================================================================
197[StructLayout(LayoutKind.Sequential)] 50[StructLayout(LayoutKind.Sequential)]
198public struct ConvexHull 51public struct ConvexHull
@@ -385,21 +238,15 @@ public enum CollisionFlags : uint
385 BS_FLOATS_ON_WATER = 1 << 11, 238 BS_FLOATS_ON_WATER = 1 << 11,
386 BS_VEHICLE_COLLISIONS = 1 << 12, 239 BS_VEHICLE_COLLISIONS = 1 << 12,
387 BS_NONE = 0, 240 BS_NONE = 0,
388 BS_ALL = 0xFFFFFFFF, 241 BS_ALL = 0xFFFFFFFF
389
390 // These are the collision flags switched depending on physical state.
391 // The other flags are used for other things and should not be fooled with.
392 BS_ACTIVE = CF_STATIC_OBJECT
393 | CF_KINEMATIC_OBJECT
394 | CF_NO_CONTACT_RESPONSE
395}; 242};
396 243
397// Values for collisions groups and masks 244// Values f collisions groups and masks
398public enum CollisionFilterGroups : uint 245public enum CollisionFilterGroups : uint
399{ 246{
400 // Don't use the bit definitions!! Define the use in a 247 // Don't use the bit definitions!! Define the use in a
401 // filter/mask definition below. This way collision interactions 248 // filter/mask definition below. This way collision interactions
402 // are more easily debugged. 249 // are more easily found and debugged.
403 BNoneGroup = 0, 250 BNoneGroup = 0,
404 BDefaultGroup = 1 << 0, 251 BDefaultGroup = 1 << 0,
405 BStaticGroup = 1 << 1, 252 BStaticGroup = 1 << 1,
@@ -413,24 +260,8 @@ public enum CollisionFilterGroups : uint
413 BTerrainGroup = 1 << 11, 260 BTerrainGroup = 1 << 11,
414 BRaycastGroup = 1 << 12, 261 BRaycastGroup = 1 << 12,
415 BSolidGroup = 1 << 13, 262 BSolidGroup = 1 << 13,
416 BLinksetGroup = 1 << 14, 263 // BLinksetGroup = xx // a linkset proper is either static or dynamic
417 264 BLinksetChildGroup = 1 << 14,
418 // The collsion filters and masked are defined in one place -- don't want them scattered
419 AvatarGroup = BCharacterGroup,
420 AvatarMask = BAllGroup,
421 ObjectGroup = BSolidGroup,
422 ObjectMask = BAllGroup,
423 StaticObjectGroup = BStaticGroup,
424 StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
425 LinksetGroup = BLinksetGroup,
426 LinksetMask = BAllGroup & ~BLinksetGroup, // linkset objects don't collide with each other
427 VolumeDetectGroup = BSensorTrigger,
428 VolumeDetectMask = ~BSensorTrigger,
429 TerrainGroup = BTerrainGroup,
430 TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
431 GroundPlaneGroup = BGroundPlaneGroup,
432 GroundPlaneMask = BAllGroup
433
434}; 265};
435 266
436// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 267// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
@@ -457,7 +288,7 @@ public enum ConstraintParamAxis : int
457 288
458// =============================================================================== 289// ===============================================================================
459static class BulletSimAPI { 290static class BulletSimAPI {
460 291// ===============================================================================
461// Link back to the managed code for outputting log messages 292// Link back to the managed code for outputting log messages
462[UnmanagedFunctionPointer(CallingConvention.Cdecl)] 293[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
463public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); 294public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
new file mode 100755
index 0000000..662177f
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -0,0 +1,278 @@
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) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN)
102 {
103 }
104 public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
105 {
106 ptr = xx;
107 type = typ;
108 shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
109 isNativeShape = false;
110 }
111 public IntPtr ptr;
112 public BSPhysicsShapeType type;
113 public System.UInt64 shapeKey;
114 public bool isNativeShape;
115
116 public void Clear()
117 {
118 ptr = IntPtr.Zero;
119 }
120 public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }
121
122 public override string ToString()
123 {
124 StringBuilder buff = new StringBuilder();
125 buff.Append("<p=");
126 buff.Append(ptr.ToString("X"));
127 buff.Append(",s=");
128 buff.Append(type.ToString());
129 buff.Append(",k=");
130 buff.Append(shapeKey.ToString("X"));
131 buff.Append(",n=");
132 buff.Append(isNativeShape.ToString());
133 buff.Append(">");
134 return buff.ToString();
135 }
136}
137
138// An allocated Bullet btConstraint
139public struct BulletConstraint
140{
141 public BulletConstraint(IntPtr xx)
142 {
143 ptr = xx;
144 }
145 public IntPtr ptr;
146
147 public void Clear()
148 {
149 ptr = IntPtr.Zero;
150 }
151 public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
152}
153
154// An allocated HeightMapThing which holds various heightmap info.
155// Made a class rather than a struct so there would be only one
156// instance of this and C# will pass around pointers rather
157// than making copies.
158public class BulletHeightMapInfo
159{
160 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
161 ID = id;
162 Ptr = xx;
163 heightMap = hm;
164 terrainRegionBase = OMV.Vector3.Zero;
165 minCoords = new OMV.Vector3(100f, 100f, 25f);
166 maxCoords = new OMV.Vector3(101f, 101f, 26f);
167 minZ = maxZ = 0f;
168 sizeX = sizeY = 256f;
169 }
170 public uint ID;
171 public IntPtr Ptr;
172 public float[] heightMap;
173 public OMV.Vector3 terrainRegionBase;
174 public OMV.Vector3 minCoords;
175 public OMV.Vector3 maxCoords;
176 public float sizeX, sizeY;
177 public float minZ, maxZ;
178 public BulletShape terrainShape;
179 public BulletBody terrainBody;
180}
181
182// The general class of collsion object.
183public enum CollisionType
184{
185 Avatar,
186 Groundplane,
187 Terrain,
188 Static,
189 Dynamic,
190 VolumeDetect,
191 // Linkset, // A linkset should be either Static or Dynamic
192 LinksetChild,
193 Unknown
194};
195
196// Hold specification of group and mask collision flags for a CollisionType
197public struct CollisionTypeFilterGroup
198{
199 public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
200 {
201 type = t;
202 group = g;
203 mask = m;
204 }
205 public CollisionType type;
206 public uint group;
207 public uint mask;
208};
209
210 /* NOTE: old definitions kept for reference. Delete when things are working.
211 // The collsion filters and masked are defined in one place -- don't want them scattered
212 AvatarGroup = BCharacterGroup,
213 AvatarMask = BAllGroup,
214 ObjectGroup = BSolidGroup,
215 ObjectMask = BAllGroup,
216 StaticObjectGroup = BStaticGroup,
217 StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
218 LinksetGroup = BLinksetGroup,
219 LinksetMask = BAllGroup,
220 LinksetChildGroup = BLinksetChildGroup,
221 LinksetChildMask = BNoneGroup, // Linkset children disappear from the world
222 VolumeDetectGroup = BSensorTrigger,
223 VolumeDetectMask = ~BSensorTrigger,
224 TerrainGroup = BTerrainGroup,
225 TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
226 GroundPlaneGroup = BGroundPlaneGroup,
227 GroundPlaneMask = BAllGroup
228 */
229
230public static class BulletSimData
231{
232
233// Map of collisionTypes to flags for collision groups and masks.
234// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
235// but, instead, use references to this dictionary. Finding and debugging
236// collision flag problems will be made easier.
237public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
238 = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
239{
240 { CollisionType.Avatar,
241 new CollisionTypeFilterGroup(CollisionType.Avatar,
242 (uint)CollisionFilterGroups.BCharacterGroup,
243 (uint)CollisionFilterGroups.BAllGroup)
244 },
245 { CollisionType.Groundplane,
246 new CollisionTypeFilterGroup(CollisionType.Groundplane,
247 (uint)CollisionFilterGroups.BGroundPlaneGroup,
248 (uint)CollisionFilterGroups.BAllGroup)
249 },
250 { CollisionType.Terrain,
251 new CollisionTypeFilterGroup(CollisionType.Terrain,
252 (uint)CollisionFilterGroups.BTerrainGroup,
253 (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
254 },
255 { CollisionType.Static,
256 new CollisionTypeFilterGroup(CollisionType.Static,
257 (uint)CollisionFilterGroups.BStaticGroup,
258 (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
259 },
260 { CollisionType.Dynamic,
261 new CollisionTypeFilterGroup(CollisionType.Dynamic,
262 (uint)CollisionFilterGroups.BSolidGroup,
263 (uint)(CollisionFilterGroups.BAllGroup))
264 },
265 { CollisionType.VolumeDetect,
266 new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
267 (uint)CollisionFilterGroups.BSensorTrigger,
268 (uint)(~CollisionFilterGroups.BSensorTrigger))
269 },
270 { CollisionType.LinksetChild,
271 new CollisionTypeFilterGroup(CollisionType.LinksetChild,
272 (uint)CollisionFilterGroups.BTerrainGroup,
273 (uint)(CollisionFilterGroups.BNoneGroup))
274 },
275};
276
277}
278}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 11c1387..7d6ace8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -19,6 +19,7 @@ Some vehicles should not be able to turn if no speed or off ground.
19Neb car jiggling left and right 19Neb car jiggling left and right
20 Happens on terrain and any other mesh object. Flat cubes are much smoother. 20 Happens on terrain and any other mesh object. Flat cubes are much smoother.
21 This has been reduced but not eliminated. 21 This has been reduced but not eliminated.
22Light cycle falling over when driving
22For limitMotorUp, use raycast down to find if vehicle is in the air. 23For limitMotorUp, use raycast down to find if vehicle is in the air.
23Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. 24Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
24 Verify that angular motion specified around Z moves in the vehicle coordinates. 25 Verify that angular motion specified around Z moves in the vehicle coordinates.
@@ -121,6 +122,9 @@ Remove unused fields from ShapeData (not used in API2)
121Breakout code for mesh/hull/compound/native into separate BSShape* classes 122Breakout code for mesh/hull/compound/native into separate BSShape* classes
122 Standardize access to building and reference code. 123 Standardize access to building and reference code.
123 The skeleton classes are in the sources but are not complete or linked in. 124 The skeleton classes are in the sources but are not complete or linked in.
125Make BSBody and BSShape real classes to centralize creation/changin/destruction
126 Convert state and parameter calls from BulletSimAPI direct calls to
127 calls on BSBody and BSShape
124Generalize Dynamics and PID with standardized motors. 128Generalize Dynamics and PID with standardized motors.
125Generalize Linkset and vehicles into PropertyManagers 129Generalize Linkset and vehicles into PropertyManagers
126 Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies 130 Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies
@@ -132,7 +136,7 @@ Implement linkset by setting position of children when root updated. (LinksetMan
132 Linkset implementation using manual prim movement. 136 Linkset implementation using manual prim movement.
133LinkablePrim class? Would that simplify/centralize the linkset logic? 137LinkablePrim class? Would that simplify/centralize the linkset logic?
134BSScene.UpdateParameterSet() is broken. How to set params on objects? 138BSScene.UpdateParameterSet() is broken. How to set params on objects?
135Remove HeightmapInfo from terrain specification. 139Remove HeightmapInfo from terrain specification
136 Since C++ code does not need terrain height, this structure et al are not needed. 140 Since C++ code does not need terrain height, this structure et al are not needed.
137Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will 141Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will
138 bob at the water level. BSPrim.PositionSanityCheck(). 142 bob at the water level. BSPrim.PositionSanityCheck().
@@ -164,7 +168,6 @@ Do prim hash codes work for sculpties and meshes? (Resolution: yes)
164Linkset implementation using compound shapes. (Resolution: implemented LinksetCompound) 168Linkset implementation using compound shapes. (Resolution: implemented LinksetCompound)
165 Compound shapes will need the LocalID in the shapes and collision 169 Compound shapes will need the LocalID in the shapes and collision
166 processing to get it from there. 170 processing to get it from there.
167Light cycle falling over when driving (Resolution: implemented VerticalAttractor)
168Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.) 171Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.)
169Package Bullet source mods for Bullet internal stats output 172Package Bullet source mods for Bullet internal stats output
170 (Resolution: move code into WorldData.h rather than relying on patches) 173 (Resolution: move code into WorldData.h rather than relying on patches)
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index 34413e5..d119791 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -250,17 +250,20 @@ namespace OpenSim.Region.Physics.Manager
250 public abstract Vector3 CenterOfMass { get; } 250 public abstract Vector3 CenterOfMass { get; }
251 251
252 /// <summary> 252 /// <summary>
253 /// Velocity of this actor. 253 /// The desired velocity of this actor.
254 /// </summary> 254 /// </summary>
255 /// <remarks> 255 /// <remarks>
256 /// Setting this provides a target velocity for physics scene updates. 256 /// Setting this provides a target velocity for physics scene updates.
257 /// Getting this returns the velocity calculated by physics scene updates, using factors such as target velocity, 257 /// Getting this returns the last set target. Fetch Velocity to get the current velocity.
258 /// time to accelerate and collisions.
259 /// </remarks> 258 /// </remarks>
259 protected Vector3 m_targetVelocity;
260 public virtual Vector3 TargetVelocity 260 public virtual Vector3 TargetVelocity
261 { 261 {
262 get { return Velocity; } 262 get { return m_targetVelocity; }
263 set { Velocity = value; } 263 set {
264 m_targetVelocity = value;
265 Velocity = m_targetVelocity;
266 }
264 } 267 }
265 268
266 public abstract Vector3 Velocity { get; set; } 269 public abstract Vector3 Velocity { get; set; }