From 17aef1c883aa81edba9a272e0a6897ad9a3a3983 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 1 Apr 2013 11:10:05 -0700
Subject: BulletSim: update unmanaged API for HACD parameter passing. Bullet
 HACD mesh to hull conversion calls in place but code not working. Update
 BulletSim DLLs and SOs for new API and HACD code.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs |   6 +++---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs   |   3 +--
 .../Region/Physics/BulletSPlugin/BSApiTemplate.cs  |  17 ++++++++++++++++-
 bin/lib32/BulletSim.dll                            | Bin 570368 -> 570880 bytes
 bin/lib32/libBulletSim.so                          | Bin 1751260 -> 1762207 bytes
 bin/lib64/BulletSim.dll                            | Bin 720896 -> 721920 bytes
 bin/lib64/libBulletSim.so                          | Bin 1908442 -> 1920169 bytes
 7 files changed, 20 insertions(+), 6 deletions(-)

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 77ea3ed..f5b84d4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -259,12 +259,12 @@ public override BulletShape CreateHullShape(BulletWorld world, int hullCount, fl
                     BSPhysicsShapeType.SHAPE_HULL);
 }
 
-public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
     return new BulletShapeUnman(
-                    BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
+                    BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr, parms),
                     BSPhysicsShapeType.SHAPE_HULL);
 }
 
@@ -1411,7 +1411,7 @@ public static extern IntPtr CreateHullShape2(IntPtr world,
                 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
+public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape, HACDParams parms);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 6fc10e9..f6b4359 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -1773,10 +1773,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
     }
 
-    public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+    public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms)
     {
         /* TODO */ return null;
-
     }
 
     public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index 5765b0d..d0d9f34 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -191,6 +191,21 @@ public struct ConfigurationParameters
     public const float numericFalse = 0f;
 }
 
+// Parameters passed for the conversion of a mesh to a hull using Bullet's HACD library.
+[StructLayout(LayoutKind.Sequential)]
+public struct HACDParams
+{
+                                            // usual default values
+	public float maxVerticesPerHull;		// 100
+	public float minClusters;				// 2
+	public float compacityWeight;			// 0.1
+	public float volumeWeight;				// 0.0
+	public float concavity;				    // 100
+	public float addExtraDistPoints;		// false
+	public float addNeighboursDistPoints;	// false
+	public float addFacesPoints;			// false
+	public float shouldAdjustCollisionMargin;	// false
+}
 
 // The states a bullet collision object can have
 public enum ActivationState : uint
@@ -308,7 +323,7 @@ public abstract BulletShape CreateMeshShape(BulletWorld world,
 public abstract BulletShape CreateHullShape(BulletWorld world,
                 int hullCount, float[] hulls);
 
-public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
+public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms);
 
 public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
 
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index 689b34f..5432813 100755
Binary files a/bin/lib32/BulletSim.dll and b/bin/lib32/BulletSim.dll differ
diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so
index b8c813e..286d930 100755
Binary files a/bin/lib32/libBulletSim.so and b/bin/lib32/libBulletSim.so differ
diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll
index 33c4d08..dca7116 100755
Binary files a/bin/lib64/BulletSim.dll and b/bin/lib64/BulletSim.dll differ
diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so
index 79207fe..b63feb3 100755
Binary files a/bin/lib64/libBulletSim.so and b/bin/lib64/libBulletSim.so differ
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