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-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs4
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs217
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs78
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs43
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs127
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs12
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs8
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt10
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs2
10 files changed, 311 insertions, 194 deletions
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
index 9c4ba30..aadb5b2 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
@@ -111,10 +111,6 @@ public sealed class BSPrim : BSPhysObject
111 111
112 _mass = CalculateMass(); 112 _mass = CalculateMass();
113 113
114 // No body or shape yet
115 PhysBody = new BulletBody(LocalID);
116 PhysShape = new BulletShape();
117
118 Linkset.Refresh(this); 114 Linkset.Refresh(this);
119 115
120 DetailLog("{0},BSPrim.constructor,call", LocalID); 116 DetailLog("{0},BSPrim.constructor,call", LocalID);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 6e68053..0355b94 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -26,6 +26,7 @@
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Reflection;
29using System.Runtime.InteropServices; 30using System.Runtime.InteropServices;
30using System.Security; 31using System.Security;
31using System.Text; 32using System.Text;
@@ -36,31 +37,102 @@ namespace OpenSim.Region.Physics.BulletSPlugin
36{ 37{
37public sealed class BSAPIUnman : BSAPITemplate 38public sealed class BSAPIUnman : BSAPITemplate
38{ 39{
39 /* 40
41// We pin the memory passed between the managed and unmanaged code.
42GCHandle m_paramsHandle;
43private GCHandle m_collisionArrayPinnedHandle;
44private GCHandle m_updateArrayPinnedHandle;
45
46// Handle to the callback used by the unmanaged code to call into the managed code.
47// Used for debug logging.
48// Need to store the handle in a persistant variable so it won't be freed.
49private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle;
50
51private BSScene PhysicsScene { get; set; }
52
53public override string BulletEngineName { get { return "BulletUnmanaged"; } }
54public override string BulletEngineVersion { get; protected set; }
55
56public BSAPIUnman(string paramName, BSScene physScene)
57{
58 PhysicsScene = physScene;
59 // Do something fancy with the paramName to get the right DLL implementation
60 // like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
61}
62
40// Initialization and simulation 63// Initialization and simulation
41public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms, 64public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
42 int maxCollisions, IntPtr collisionArray, 65 int maxCollisions, ref CollisionDesc[] collisionArray,
43 int maxUpdates, IntPtr updateArray 66 int maxUpdates, ref EntityProperties[] updateArray
44 ); 67 )
68{
69 // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
70 m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
71 m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
72 m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
45 73
46public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value); 74 // If Debug logging level, enable logging from the unmanaged code
75 m_DebugLogCallbackHandle = null;
76 if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled)
77 {
78 BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
79 if (PhysicsScene.PhysicsLogging.Enabled)
80 // The handle is saved in a variable to make sure it doesn't get freed after this call
81 m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
82 else
83 m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
84 }
47 85
48public void SetHeightMap(BulletWorld world, float[] heightmap); 86 // Get the version of the DLL
87 // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
88 // BulletEngineVersion = BulletSimAPI.GetVersion2();
89 BulletEngineVersion = "";
90
91 // Call the unmanaged code with the buffers and other information
92 return new BulletWorld(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
93 maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
94 maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
95 m_DebugLogCallbackHandle));
49 96
50public void Shutdown(BulletWorld sim); 97}
51 98
52public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, 99// Called directly from unmanaged code so don't do much
53 out int updatedEntityCount, 100private void BulletLogger(string msg)
54 out IntPtr updatedEntitiesPtr, 101{
55 out int collidersCount, 102 BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg);
56 out IntPtr collidersPtr); 103}
104
105// Called directly from unmanaged code so don't do much
106private void BulletLoggerPhysLog(string msg)
107{
108 PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
109}
110
111 /*
112public void SetHeightMap(BulletWorld world, float[] heightmap);
57 113
58 */ 114 */
115public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
116 out int updatedEntityCount, out int collidersCount)
117{
118 return BSAPICPP.PhysicsStep2(world.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
119}
120
121public override void Shutdown(BulletWorld sim)
122{
123 BSAPICPP.Shutdown2(sim.ptr);
124}
125
59public override bool PushUpdate(BulletBody obj) 126public override bool PushUpdate(BulletBody obj)
60{ 127{
61 return BSAPICPP.PushUpdate2(obj.ptr); 128 return BSAPICPP.PushUpdate2(obj.ptr);
62} 129}
63 130
131public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
132{
133 return BSAPICPP.UpdateParameter2(world.ptr, localID, parm, value);
134}
135
64// ===================================================================================== 136// =====================================================================================
65// Mesh, hull, shape and body creation helper routines 137// Mesh, hull, shape and body creation helper routines
66public override BulletShape CreateMeshShape(BulletWorld world, 138public override BulletShape CreateMeshShape(BulletWorld world,
@@ -893,11 +965,81 @@ public override float GetMargin(BulletShape shape)
893 return BSAPICPP.GetMargin2(shape.ptr); 965 return BSAPICPP.GetMargin2(shape.ptr);
894} 966}
895 967
968// =====================================================================================
969// Debugging
970public override void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
971{
972 BSAPICPP.DumpRigidBody2(sim.ptr, collisionObject.ptr);
973}
974
975public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape)
976{
977 BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr);
978}
979
980public override void DumpMapInfo(BulletWorld sim, BulletHMapInfo mapInfo)
981{
982 BSAPICPP.DumpMapInfo2(sim.ptr, mapInfo.ptr);
983}
984
985public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
986{
987 BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr);
988}
989
990public override void DumpActivationInfo(BulletWorld sim)
991{
992 BSAPICPP.DumpActivationInfo2(sim.ptr);
993}
994
995public override void DumpAllInfo(BulletWorld sim)
996{
997 BSAPICPP.DumpAllInfo2(sim.ptr);
998}
999
1000public override void DumpPhysicsStatistics(BulletWorld sim)
1001{
1002 BSAPICPP.DumpPhysicsStatistics2(sim.ptr);
1003}
1004
1005
1006// =====================================================================================
1007// =====================================================================================
1008// =====================================================================================
1009// =====================================================================================
1010// =====================================================================================
1011// The actual interface to the unmanaged code
896static class BSAPICPP 1012static class BSAPICPP
897{ 1013{
1014// ===============================================================================
1015// Link back to the managed code for outputting log messages
1016[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
1017public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
1018
1019// ===============================================================================
1020// Initialization and simulation
1021[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1022public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
1023 int maxCollisions, IntPtr collisionArray,
1024 int maxUpdates, IntPtr updateArray,
1025 DebugLogCallback logRoutine);
1026
1027[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1028public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
1029
1030[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1031public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
1032 out int updatedEntityCount, out int collidersCount);
1033
1034[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1035public static extern void Shutdown2(IntPtr sim);
1036
898[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1037[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
899public static extern bool PushUpdate2(IntPtr obj); 1038public static extern bool PushUpdate2(IntPtr obj);
900 1039
1040[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1041public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
1042
901// ===================================================================================== 1043// =====================================================================================
902// Mesh, hull, shape and body creation helper routines 1044// Mesh, hull, shape and body creation helper routines
903[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1045[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1431,52 +1573,6 @@ public static extern void SetMargin2(IntPtr shape, float val);
1431[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1573[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1432public static extern float GetMargin2(IntPtr shape); 1574public static extern float GetMargin2(IntPtr shape);
1433 1575
1434}
1435}
1436
1437// ===============================================================================
1438// ===============================================================================
1439// ===============================================================================
1440// ===============================================================================
1441// ===============================================================================
1442// ===============================================================================
1443// ===============================================================================
1444// ===============================================================================
1445// ===============================================================================
1446// ===============================================================================
1447// ===============================================================================
1448// ===============================================================================
1449// ===============================================================================
1450static class BulletSimAPI {
1451// ===============================================================================
1452// Link back to the managed code for outputting log messages
1453[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
1454public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
1455
1456// ===============================================================================
1457// Initialization and simulation
1458[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1459public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
1460 int maxCollisions, IntPtr collisionArray,
1461 int maxUpdates, IntPtr updateArray,
1462 DebugLogCallback logRoutine);
1463
1464[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1465public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
1466
1467[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1468public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
1469
1470[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1471public static extern void Shutdown2(IntPtr sim);
1472
1473[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1474public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
1475 out int updatedEntityCount,
1476 out IntPtr updatedEntitiesPtr,
1477 out int collidersCount,
1478 out IntPtr collidersPtr);
1479
1480// ===================================================================================== 1576// =====================================================================================
1481// Debugging 1577// Debugging
1482[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1578[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1501,4 +1597,7 @@ public static extern void DumpAllInfo2(IntPtr sim);
1501public static extern void DumpPhysicsStatistics2(IntPtr sim); 1597public static extern void DumpPhysicsStatistics2(IntPtr sim);
1502 1598
1503} 1599}
1600
1601}
1602
1504} 1603}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index a56a817..8ed791e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -1,39 +1,39 @@
1/* 1/*
2 * Copyright (c) Contributors, http://opensimulator.org/ 2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders. 3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 * 4 *
5 * Redistribution and use in source and binary forms, with or without 5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer. 8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD 9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the 10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution. 11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the 12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products 13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission. 14 * derived from this software without specific prior written permission.
15 * 15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY 16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY 19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 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 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 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 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. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Linq; 29using System.Linq;
30using System.Text; 30using System.Text;
31 31
32namespace OpenSim.Region.Physics.BulletSPlugin 32namespace OpenSim.Region.Physics.BulletSPlugin
33{ 33{
34 /* 34 /*
35public sealed class BSAPIXNA : BulletSimAPITemplate 35public sealed class BSAPIXNA : BSAPITemplate
36{ 36{
37} 37}
38 */ 38 */
39} 39}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index fbf362d..64a886b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -292,26 +292,27 @@ public enum ConstraintParamAxis : int
292 292
293public abstract class BSAPITemplate 293public abstract class BSAPITemplate
294{ 294{
295 /* 295// Returns the name of the underlying Bullet engine
296public abstract string BulletEngineName { get; }
297public abstract string BulletEngineVersion { get; protected set;}
298
296// Initialization and simulation 299// Initialization and simulation
297public abstract BulletWorld Initialize(Vector3 maxPosition, IntPtr parms, 300public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
298 int maxCollisions, IntPtr collisionArray, 301 int maxCollisions, ref CollisionDesc[] collisionArray,
299 int maxUpdates, IntPtr updateArray 302 int maxUpdates, ref EntityProperties[] updateArray
300 ); 303 );
301 304
302public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value); 305 /*
303
304public abstract void SetHeightMap(BulletWorld world, float[] heightmap); 306public abstract void SetHeightMap(BulletWorld world, float[] heightmap);
305 307
306public abstract void Shutdown(BulletWorld sim); 308 */
307
308public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, 309public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
309 out int updatedEntityCount, 310 out int updatedEntityCount, out int collidersCount);
310 out IntPtr updatedEntitiesPtr, 311
311 out int collidersCount, 312public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
312 out IntPtr collidersPtr); 313
314public abstract void Shutdown(BulletWorld sim);
313 315
314 */
315public abstract bool PushUpdate(BulletBody obj); 316public abstract bool PushUpdate(BulletBody obj);
316 317
317// ===================================================================================== 318// =====================================================================================
@@ -660,5 +661,21 @@ public abstract void SetMargin(BulletShape shape, float val);
660 661
661public abstract float GetMargin(BulletShape shape); 662public abstract float GetMargin(BulletShape shape);
662 663
664// =====================================================================================
665// Debugging
666public abstract void DumpRigidBody(BulletWorld sim, BulletBody collisionObject);
667
668public abstract void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape);
669
670public abstract void DumpMapInfo(BulletWorld sim, BulletHMapInfo mapInfo);
671
672public abstract void DumpConstraint(BulletWorld sim, BulletConstraint constrain);
673
674public abstract void DumpActivationInfo(BulletWorld sim);
675
676public abstract void DumpAllInfo(BulletWorld sim);
677
678public abstract void DumpPhysicsStatistics(BulletWorld sim);
679
663}; 680};
664} 681}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index e4e3edc..13c2539 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -823,7 +823,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
823 if (!IsActive) return; 823 if (!IsActive) return;
824 824
825 if (PhysicsScene.VehiclePhysicalLoggingEnabled) 825 if (PhysicsScene.VehiclePhysicalLoggingEnabled)
826 BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr); 826 PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
827 827
828 ForgetKnownVehicleProperties(); 828 ForgetKnownVehicleProperties();
829 829
@@ -840,7 +840,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
840 PushKnownChanged(); 840 PushKnownChanged();
841 841
842 if (PhysicsScene.VehiclePhysicalLoggingEnabled) 842 if (PhysicsScene.VehiclePhysicalLoggingEnabled)
843 BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr); 843 PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
844 844
845 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 845 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
846 Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); 846 Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 28c6680..258b72f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -26,6 +26,7 @@
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Reflection;
29using System.Runtime.InteropServices; 30using System.Runtime.InteropServices;
30using System.Text; 31using System.Text;
31using System.Threading; 32using System.Threading;
@@ -42,8 +43,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
42{ 43{
43public sealed class BSScene : PhysicsScene, IPhysicsParameters 44public sealed class BSScene : PhysicsScene, IPhysicsParameters
44{ 45{
45 private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); 46 internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
46 private static readonly string LogHeader = "[BULLETS SCENE]"; 47 internal static readonly string LogHeader = "[BULLETS SCENE]";
47 48
48 // The name of the region we're working for. 49 // The name of the region we're working for.
49 public string RegionName { get; private set; } 50 public string RegionName { get; private set; }
@@ -51,6 +52,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
51 public string BulletSimVersion = "?"; 52 public string BulletSimVersion = "?";
52 53
53 // The handle to the underlying managed or unmanaged version of Bullet being used. 54 // The handle to the underlying managed or unmanaged version of Bullet being used.
55 public string BulletEngineName { get; private set; }
54 public BSAPITemplate PE; 56 public BSAPITemplate PE;
55 57
56 public Dictionary<uint, BSPhysObject> PhysObjects; 58 public Dictionary<uint, BSPhysObject> PhysObjects;
@@ -102,11 +104,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
102 // Pinned memory used to pass step information between managed and unmanaged 104 // Pinned memory used to pass step information between managed and unmanaged
103 internal int m_maxCollisionsPerFrame; 105 internal int m_maxCollisionsPerFrame;
104 internal CollisionDesc[] m_collisionArray; 106 internal CollisionDesc[] m_collisionArray;
105 internal GCHandle m_collisionArrayPinnedHandle;
106 107
107 internal int m_maxUpdatesPerFrame; 108 internal int m_maxUpdatesPerFrame;
108 internal EntityProperties[] m_updateArray; 109 internal EntityProperties[] m_updateArray;
109 internal GCHandle m_updateArrayPinnedHandle;
110 110
111 public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero 111 public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
112 public const uint GROUNDPLANE_ID = 1; 112 public const uint GROUNDPLANE_ID = 1;
@@ -152,12 +152,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
152 // A pointer to an instance if this structure is passed to the C++ code 152 // A pointer to an instance if this structure is passed to the C++ code
153 // Used to pass basic configuration values to the unmanaged code. 153 // Used to pass basic configuration values to the unmanaged code.
154 internal ConfigurationParameters[] UnmanagedParams; 154 internal ConfigurationParameters[] UnmanagedParams;
155 GCHandle m_paramsHandle;
156
157 // Handle to the callback used by the unmanaged code to call into the managed code.
158 // Used for debug logging.
159 // Need to store the handle in a persistant variable so it won't be freed.
160 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
161 155
162 // Sometimes you just have to log everything. 156 // Sometimes you just have to log everything.
163 public Logging.LogWriter PhysicsLogging; 157 public Logging.LogWriter PhysicsLogging;
@@ -194,15 +188,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
194 // Set default values for physics parameters plus any overrides from the ini file 188 // Set default values for physics parameters plus any overrides from the ini file
195 GetInitialParameterValues(config); 189 GetInitialParameterValues(config);
196 190
197 // For the moment, only one version of the interface 191 // Get the connection to the physics engine (could be native or one of many DLLs)
198 PE = new BSAPIUnman(); 192 PE = SelectUnderlyingBulletEngine(BulletEngineName);
199
200 // Allocate more pinned memory. Do this early to try and get all pinned memory close together.
201 m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned);
202 m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
203 m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
204 m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
205 m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
206 193
207 // Enable very detailed logging. 194 // Enable very detailed logging.
208 // By creating an empty logger when not logging, the log message invocation code 195 // By creating an empty logger when not logging, the log message invocation code
@@ -217,22 +204,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
217 PhysicsLogging = new Logging.LogWriter(); 204 PhysicsLogging = new Logging.LogWriter();
218 } 205 }
219 206
220 // If Debug logging level, enable logging from the unmanaged code 207 // Allocate memory for returning of the updates and collisions from the physics engine
221 m_DebugLogCallbackHandle = null; 208 m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
222 if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) 209 m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
223 {
224 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
225 if (PhysicsLogging.Enabled)
226 // The handle is saved in a variable to make sure it doesn't get freed after this call
227 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
228 else
229 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
230 }
231
232 // Get the version of the DLL
233 // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
234 // BulletSimVersion = BulletSimAPI.GetVersion();
235 // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
236 210
237 // The bounding box for the simulated world. The origin is 0,0,0 unless we're 211 // The bounding box for the simulated world. The origin is 0,0,0 unless we're
238 // a child in a mega-region. 212 // a child in a mega-region.
@@ -240,11 +214,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
240 // area. It tracks active objects no matter where they are. 214 // area. It tracks active objects no matter where they are.
241 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); 215 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
242 216
243 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); 217 World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
244 World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
245 m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
246 m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
247 m_DebugLogCallbackHandle));
248 218
249 Constraints = new BSConstraintCollection(World); 219 Constraints = new BSConstraintCollection(World);
250 220
@@ -274,6 +244,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
274 { 244 {
275 BSParam.SetParameterConfigurationValues(this, pConfig); 245 BSParam.SetParameterConfigurationValues(this, pConfig);
276 246
247 // There are two Bullet implementations to choose from
248 BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged");
249
277 // Very detailed logging for physics debugging 250 // Very detailed logging for physics debugging
278 // TODO: the boolean values can be moved to the normal parameter processing. 251 // TODO: the boolean values can be moved to the normal parameter processing.
279 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); 252 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
@@ -315,16 +288,41 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
315 return ret; 288 return ret;
316 } 289 }
317 290
318 // Called directly from unmanaged code so don't do much 291 // Select the connection to the actual Bullet implementation.
319 private void BulletLogger(string msg) 292 // The main engine selection is the engineName up to the first hypen.
293 // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name
294 // is passed to the engine to do its special selection, etc.
295 private BSAPITemplate SelectUnderlyingBulletEngine(string engineName)
320 { 296 {
321 m_log.Debug("[BULLETS UNMANAGED]:" + msg); 297 // For the moment, do a simple switch statement.
322 } 298 // Someday do fancyness with looking up the interfaces in the assembly.
299 BSAPITemplate ret = null;
323 300
324 // Called directly from unmanaged code so don't do much 301 string selectionName = engineName.ToLower();
325 private void BulletLoggerPhysLog(string msg) 302 int hyphenIndex = engineName.IndexOf("-");
326 { 303 if (hyphenIndex > 0)
327 DetailLog("[BULLETS UNMANAGED]:" + msg); 304 selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1);
305
306 switch (selectionName)
307 {
308 case "bulletunmanaged":
309 ret = new BSAPIUnman(engineName, this);
310 break;
311 case "bulletxna":
312 // ret = new BSAPIXNA(engineName, this);
313 break;
314 }
315
316 if (ret == null)
317 {
318 m_log.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader);
319 }
320 else
321 {
322 m_log.WarnFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
323 }
324
325 return ret;
328 } 326 }
329 327
330 public override void Dispose() 328 public override void Dispose()
@@ -361,7 +359,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
361 } 359 }
362 360
363 // Anything left in the unmanaged code should be cleaned out 361 // Anything left in the unmanaged code should be cleaned out
364 BulletSimAPI.Shutdown2(World.ptr); 362 PE.Shutdown(World);
365 363
366 // Not logging any more 364 // Not logging any more
367 PhysicsLogging.Close(); 365 PhysicsLogging.Close();
@@ -474,9 +472,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
474 LastTimeStep = timeStep; 472 LastTimeStep = timeStep;
475 473
476 int updatedEntityCount = 0; 474 int updatedEntityCount = 0;
477 IntPtr updatedEntitiesPtr;
478 int collidersCount = 0; 475 int collidersCount = 0;
479 IntPtr collidersPtr;
480 476
481 int beforeTime = 0; 477 int beforeTime = 0;
482 int simTime = 0; 478 int simTime = 0;
@@ -492,6 +488,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
492 TriggerPreStepEvent(timeStep); 488 TriggerPreStepEvent(timeStep);
493 489
494 // the prestep actions might have added taints 490 // the prestep actions might have added taints
491 numTaints += _taintOperations.Count;
495 ProcessTaints(); 492 ProcessTaints();
496 493
497 InTaintTime = false; // Only used for debugging so locking is not necessary. 494 InTaintTime = false; // Only used for debugging so locking is not necessary.
@@ -499,23 +496,25 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
499 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. 496 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
500 // Only enable this in a limited test world with few objects. 497 // Only enable this in a limited test world with few objects.
501 if (m_physicsPhysicalDumpEnabled) 498 if (m_physicsPhysicalDumpEnabled)
502 BulletSimAPI.DumpAllInfo2(World.ptr); 499 PE.DumpAllInfo(World);
503 500
504 // step the physical world one interval 501 // step the physical world one interval
505 m_simulationStep++; 502 m_simulationStep++;
506 int numSubSteps = 0; 503 int numSubSteps = 0;
507
508 try 504 try
509 { 505 {
510 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); 506 if (PhysicsLogging.Enabled)
507 beforeTime = Util.EnvironmentTickCount();
511 508
512 numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, 509 numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
513 out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
514 510
515 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); 511 if (PhysicsLogging.Enabled)
516 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", 512 {
517 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, 513 simTime = Util.EnvironmentTickCountSubtract(beforeTime);
518 updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); 514 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
515 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
516 updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
517 }
519 } 518 }
520 catch (Exception e) 519 catch (Exception e)
521 { 520 {
@@ -527,8 +526,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
527 collidersCount = 0; 526 collidersCount = 0;
528 } 527 }
529 528
530 // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in.
531
532 // Get a value for 'now' so all the collision and update routines don't have to get their own. 529 // Get a value for 'now' so all the collision and update routines don't have to get their own.
533 SimulationNowTime = Util.EnvironmentTickCount(); 530 SimulationNowTime = Util.EnvironmentTickCount();
534 531
@@ -570,7 +567,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
570 // Objects that are done colliding are removed from the ObjectsWithCollisions list. 567 // Objects that are done colliding are removed from the ObjectsWithCollisions list.
571 // Not done above because it is inside an iteration of ObjectWithCollisions. 568 // Not done above because it is inside an iteration of ObjectWithCollisions.
572 // This complex collision processing is required to create an empty collision 569 // This complex collision processing is required to create an empty collision
573 // event call after all collisions have happened on an object. This enables 570 // event call after all real collisions have happened on an object. This enables
574 // the simulator to generate the 'collision end' event. 571 // the simulator to generate the 'collision end' event.
575 if (ObjectsWithNoMoreCollisions.Count > 0) 572 if (ObjectsWithNoMoreCollisions.Count > 0)
576 { 573 {
@@ -599,11 +596,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
599 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. 596 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
600 // Only enable this in a limited test world with few objects. 597 // Only enable this in a limited test world with few objects.
601 if (m_physicsPhysicalDumpEnabled) 598 if (m_physicsPhysicalDumpEnabled)
602 BulletSimAPI.DumpAllInfo2(World.ptr); 599 PE.DumpAllInfo(World);
603 600
604 // The physics engine returns the number of milliseconds it simulated this call. 601 // The physics engine returns the number of milliseconds it simulated this call.
605 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. 602 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
606 // Multiply by 55 to give a nominal frame rate of 55. 603 // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55).
607 return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate; 604 return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
608 } 605 }
609 606
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index cc28344..0802b3a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -44,7 +44,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
44{ 44{
45 static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; 45 static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
46 46
47 BulletHeightMapInfo m_mapInfo = null; 47 BulletHMapInfo m_mapInfo = null;
48 48
49 // Constructor to build a default, flat heightmap terrain. 49 // Constructor to build a default, flat heightmap terrain.
50 public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) 50 public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
@@ -58,7 +58,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
58 { 58 {
59 initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; 59 initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
60 } 60 }
61 m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); 61 m_mapInfo = new BulletHMapInfo(id, initialMap, IntPtr.Zero);
62 m_mapInfo.minCoords = minTerrainCoords; 62 m_mapInfo.minCoords = minTerrainCoords;
63 m_mapInfo.maxCoords = maxTerrainCoords; 63 m_mapInfo.maxCoords = maxTerrainCoords;
64 m_mapInfo.terrainRegionBase = TerrainBase; 64 m_mapInfo.terrainRegionBase = TerrainBase;
@@ -72,7 +72,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
72 Vector3 minCoords, Vector3 maxCoords) 72 Vector3 minCoords, Vector3 maxCoords)
73 : base(physicsScene, regionBase, id) 73 : base(physicsScene, regionBase, id)
74 { 74 {
75 m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); 75 m_mapInfo = new BulletHMapInfo(id, initialMap, IntPtr.Zero);
76 m_mapInfo.minCoords = minCoords; 76 m_mapInfo.minCoords = minCoords;
77 m_mapInfo.maxCoords = maxCoords; 77 m_mapInfo.maxCoords = maxCoords;
78 m_mapInfo.minZ = minCoords.Z; 78 m_mapInfo.minZ = minCoords.Z;
@@ -91,12 +91,12 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
91 // Using the information in m_mapInfo, create the physical representation of the heightmap. 91 // Using the information in m_mapInfo, create the physical representation of the heightmap.
92 private void BuildHeightmapTerrain() 92 private void BuildHeightmapTerrain()
93 { 93 {
94 m_mapInfo.Ptr = PhysicsScene.PE.CreateHeightMapInfo(PhysicsScene.World, m_mapInfo.ID, 94 m_mapInfo.ptr = PhysicsScene.PE.CreateHeightMapInfo(PhysicsScene.World, m_mapInfo.ID,
95 m_mapInfo.minCoords, m_mapInfo.maxCoords, 95 m_mapInfo.minCoords, m_mapInfo.maxCoords,
96 m_mapInfo.heightMap, BSParam.TerrainCollisionMargin); 96 m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
97 97
98 // Create the terrain shape from the mapInfo 98 // Create the terrain shape from the mapInfo
99 m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape(m_mapInfo.Ptr); 99 m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape(m_mapInfo.ptr);
100 100
101 // The terrain object initial position is at the center of the object 101 // The terrain object initial position is at the center of the object
102 Vector3 centerPos; 102 Vector3 centerPos;
@@ -138,7 +138,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
138 PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody); 138 PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody);
139 // Frees both the body and the shape. 139 // Frees both the body and the shape.
140 PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody); 140 PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody);
141 PhysicsScene.PE.ReleaseHeightMapInfo(m_mapInfo.Ptr); 141 PhysicsScene.PE.ReleaseHeightMapInfo(m_mapInfo.ptr);
142 } 142 }
143 } 143 }
144 m_mapInfo = null; 144 m_mapInfo = null;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
index a040928..c8f4602 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -187,11 +187,11 @@ public class BulletConstraint
187// Made a class rather than a struct so there would be only one 187// Made a class rather than a struct so there would be only one
188// instance of this and C# will pass around pointers rather 188// instance of this and C# will pass around pointers rather
189// than making copies. 189// than making copies.
190public class BulletHeightMapInfo 190public class BulletHMapInfo
191{ 191{
192 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) { 192 public BulletHMapInfo(uint id, float[] hm, IntPtr xx) {
193 ID = id; 193 ID = id;
194 Ptr = xx; 194 ptr = xx;
195 heightMap = hm; 195 heightMap = hm;
196 terrainRegionBase = OMV.Vector3.Zero; 196 terrainRegionBase = OMV.Vector3.Zero;
197 minCoords = new OMV.Vector3(100f, 100f, 25f); 197 minCoords = new OMV.Vector3(100f, 100f, 25f);
@@ -200,7 +200,7 @@ public class BulletHeightMapInfo
200 sizeX = sizeY = 256f; 200 sizeX = sizeY = 256f;
201 } 201 }
202 public uint ID; 202 public uint ID;
203 public IntPtr Ptr; 203 public IntPtr ptr;
204 public float[] heightMap; 204 public float[] heightMap;
205 public OMV.Vector3 terrainRegionBase; 205 public OMV.Vector3 terrainRegionBase;
206 public OMV.Vector3 minCoords; 206 public OMV.Vector3 minCoords;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 4cb8e6d..a8a4ff5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -61,7 +61,8 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
61 61
62BULLETSIM TODO LIST: 62BULLETSIM TODO LIST:
63================================================= 63=================================================
64Avatar density is WAY off. Compare and calibrate with what's in SL. 64Implement an avatar mesh shape. The Bullet capsule is way too limited.
65 Consider just hand creating a vertex/index array in a new BSShapeAvatar.
65Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. 66Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
66Duplicating a physical prim causes old prim to jump away 67Duplicating a physical prim causes old prim to jump away
67 Dup a phys prim and the original become unselected and thus interacts w/ selected prim. 68 Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
@@ -170,6 +171,9 @@ Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/3179
170 171
171INTERNAL IMPROVEMENT/CLEANUP 172INTERNAL IMPROVEMENT/CLEANUP
172================================================= 173=================================================
174Create the physical wrapper classes (BulletBody, BulletShape) by methods on
175 BSAPITemplate and make their actual implementation Bullet engine specific.
176 For the short term, just call the existing functions in ShapeCollection.
173Consider moving prim/character body and shape destruction in destroy() 177Consider moving prim/character body and shape destruction in destroy()
174 to postTimeTime rather than protecting all the potential sets that 178 to postTimeTime rather than protecting all the potential sets that
175 might have been queued up. 179 might have been queued up.
@@ -204,6 +208,8 @@ Should taints check for existance or activeness of target?
204 Possibly have and 'active' flag that is checked by the taint processor? 208 Possibly have and 'active' flag that is checked by the taint processor?
205Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones) 209Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones)
206Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'? 210Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'?
211There are TOO MANY interfaces from BulletSim core to Bullet itself
212 Think of something to eliminate one or more of the layers
207 213
208THREADING 214THREADING
209================================================= 215=================================================
@@ -262,3 +268,5 @@ llApplyImpulse()
262 (Resolution: tested on SL and OS. AddForce scales the force for timestep) 268 (Resolution: tested on SL and OS. AddForce scales the force for timestep)
263llSetBuoyancy() (DONE) 269llSetBuoyancy() (DONE)
264 (Resolution: Bullet resets object gravity when added to world. Moved set gravity) 270 (Resolution: Bullet resets object gravity when added to world. Moved set gravity)
271Avatar density is WAY off. Compare and calibrate with what's in SL. (DONE)
272 (Resolution: set default density to 3.5 (from 60) which is closer to SL)
diff --git a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
index 8587a2b..8ccfda5 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
@@ -30,7 +30,7 @@ using System.Collections.Generic;
30using System.IO; 30using System.IO;
31using System.Reflection; 31using System.Reflection;
32using Nini.Config; 32using Nini.Config;
33using log4net; 33using log4net;
34using OpenSim.Framework; 34using OpenSim.Framework;
35 35
36namespace OpenSim.Region.Physics.Manager 36namespace OpenSim.Region.Physics.Manager