From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- .../Physics/BulletSNPlugin/BSShapeCollection.cs | 1015 -------------------- 1 file changed, 1015 deletions(-) delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs (limited to 'OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs') diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs deleted file mode 100644 index 47fb768..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs +++ /dev/null @@ -1,1015 +0,0 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; -using OMV = OpenMetaverse; -using OpenSim.Framework; -using OpenSim.Region.Physics.Manager; -using OpenSim.Region.Physics.ConvexDecompositionDotNet; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ -public sealed class BSShapeCollection : IDisposable -{ - private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; - - private BSScene PhysicsScene { get; set; } - - private Object m_collectionActivityLock = new Object(); - - // Description of a Mesh - private struct MeshDesc - { - public Object ptr; - public int referenceCount; - public DateTime lastReferenced; - public UInt64 shapeKey; - } - - // Description of a hull. - // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations. - private struct HullDesc - { - public Object ptr; - public int referenceCount; - public DateTime lastReferenced; - public UInt64 shapeKey; - } - - // The sharable set of meshes and hulls. Indexed by their shape hash. - private Dictionary Meshes = new Dictionary(); - private Dictionary Hulls = new Dictionary(); - - private bool DDetail = false; - - public BSShapeCollection(BSScene physScene) - { - PhysicsScene = physScene; - // Set the next to 'true' for very detailed shape update detailed logging (detailed details?) - // While detailed debugging is still active, this is better than commenting out all the - // DetailLog statements. When debugging slows down, this and the protected logging - // statements can be commented/removed. - DDetail = true; - } - - public void Dispose() - { - // TODO!!!!!!!!! - } - - // Callbacks called just before either the body or shape is destroyed. - // Mostly used for changing bodies out from under Linksets. - // Useful for other cases where parameters need saving. - // Passing 'null' says no callback. - public delegate void ShapeDestructionCallback(BulletShape shape); - public delegate void BodyDestructionCallback(BulletBody body); - - // Called to update/change the body and shape for an object. - // First checks the shape and updates that if necessary then makes - // sure the body is of the right type. - // Return 'true' if either the body or the shape changed. - // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before - // the current shape or body is destroyed. This allows the caller to remove any - // higher level dependencies on the shape or body. Mostly used for LinkSets to - // remove the physical constraints before the body is destroyed. - // Called at taint-time!! - public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, - ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) - { - PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); - - bool ret = false; - - // This lock could probably be pushed down lower but building shouldn't take long - lock (m_collectionActivityLock) - { - // Do we have the correct geometry for this type of object? - // Updates prim.BSShape with information/pointers to shape. - // Returns 'true' of BSShape is changed to a new shape. - bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback); - // If we had to select a new shape geometry for the object, - // rebuild the body around it. - // Updates prim.BSBody with information/pointers to requested body - // Returns 'true' if BSBody was changed. - bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, - prim.PhysShape, bodyCallback); - ret = newGeom || newBody; - } - DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}", - prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape); - - return ret; - } - - public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim) - { - return GetBodyAndShape(forceRebuild, sim, prim, null, null); - } - - // Track another user of a body. - // We presume the caller has allocated the body. - // Bodies only have one user so the body is just put into the world if not already there. - public void ReferenceBody(BulletBody body, bool inTaintTime) - { - lock (m_collectionActivityLock) - { - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); - PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() - { - if (!BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr)) - { - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); - } - }); - } - } - - // Release the usage of a body. - // Called when releasing use of a BSBody. BSShape is handled separately. - public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback ) - { - if (!body.HasPhysicalBody) - return; - - lock (m_collectionActivityLock) - { - PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate() - { - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}", - body.ID, body, inTaintTime); - // If the caller needs to know the old body is going away, pass the event up. - if (bodyCallback != null) bodyCallback(body); - - if (BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr)) - { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); - } - - // Zero any reference to the shape so it is not freed when the body is deleted. - BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, null); - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); - }); - } - } - - // Track the datastructures and use count for a shape. - // When creating a hull, this is called first to reference the mesh - // and then again to reference the hull. - // Meshes and hulls for the same shape have the same hash key. - // NOTE that native shapes are not added to the mesh list or removed. - // Returns 'true' if this is the initial reference to the shape. Otherwise reused. - public bool ReferenceShape(BulletShape shape) - { - bool ret = false; - switch (shape.type) - { - case BSPhysicsShapeType.SHAPE_MESH: - MeshDesc meshDesc; - if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) - { - // There is an existing instance of this mesh. - meshDesc.referenceCount++; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); - } - else - { - // This is a new reference to a mesh - meshDesc.ptr = shape.ptr; - meshDesc.shapeKey = shape.shapeKey; - // We keep a reference to the underlying IMesh data so a hull can be built - meshDesc.referenceCount = 1; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); - ret = true; - } - meshDesc.lastReferenced = System.DateTime.Now; - Meshes[shape.shapeKey] = meshDesc; - break; - case BSPhysicsShapeType.SHAPE_HULL: - HullDesc hullDesc; - if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) - { - // There is an existing instance of this hull. - hullDesc.referenceCount++; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); - } - else - { - // This is a new reference to a hull - hullDesc.ptr = shape.ptr; - hullDesc.shapeKey = shape.shapeKey; - hullDesc.referenceCount = 1; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); - ret = true; - - } - hullDesc.lastReferenced = System.DateTime.Now; - Hulls[shape.shapeKey] = hullDesc; - break; - case BSPhysicsShapeType.SHAPE_UNKNOWN: - break; - default: - // Native shapes are not tracked and they don't go into any list - break; - } - return ret; - } - - // Release the usage of a shape. - public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) - { - if (!shape.HasPhysicalShape) - return; - - PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate() - { - if (shape.HasPhysicalShape) - { - if (shape.isNativeShape) - { - // Native shapes are not tracked and are released immediately - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", - BSScene.DetailLogZero, shape.ptr.ToString(), inTaintTime); - if (shapeCallback != null) shapeCallback(shape); - BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); - } - else - { - switch (shape.type) - { - case BSPhysicsShapeType.SHAPE_HULL: - DereferenceHull(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_MESH: - DereferenceMesh(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_COMPOUND: - DereferenceCompound(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_UNKNOWN: - break; - default: - break; - } - } - } - }); - } - - // Count down the reference count for a mesh shape - // Called at taint-time. - private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - MeshDesc meshDesc; - if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) - { - meshDesc.referenceCount--; - // TODO: release the Bullet storage - if (shapeCallback != null) shapeCallback(shape); - meshDesc.lastReferenced = System.DateTime.Now; - Meshes[shape.shapeKey] = meshDesc; - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}", - BSScene.DetailLogZero, shape, meshDesc.referenceCount); - - } - } - - // Count down the reference count for a hull shape - // Called at taint-time. - private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - HullDesc hullDesc; - if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) - { - hullDesc.referenceCount--; - // TODO: release the Bullet storage (aging old entries?) - - // Tell upper layers that, if they have dependencies on this shape, this link is going away - if (shapeCallback != null) shapeCallback(shape); - - hullDesc.lastReferenced = System.DateTime.Now; - Hulls[shape.shapeKey] = hullDesc; - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}", - BSScene.DetailLogZero, shape, hullDesc.referenceCount); - } - } - - // Remove a reference to a compound shape. - // Taking a compound shape apart is a little tricky because if you just delete the - // physical shape, it will free all the underlying children. We can't do that because - // they could be shared. So, this removes each of the children from the compound and - // dereferences them separately before destroying the compound collision object itself. - // Called at taint-time. - private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - if (!BulletSimAPI.IsCompound2(shape.ptr)) - { - // Failed the sanity check!! - PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", - LogHeader, shape.type, shape.ptr.ToString()); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", - BSScene.DetailLogZero, shape.type, shape.ptr.ToString()); - return; - } - - int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren); - - for (int ii = numChildren - 1; ii >= 0; ii--) - { - Object childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii); - DereferenceAnonCollisionShape(childShape); - } - BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); - } - - // Sometimes we have a pointer to a collision shape but don't know what type it is. - // Figure out type and call the correct dereference routine. - // Called at taint-time. - private void DereferenceAnonCollisionShape(Object cShape) - { - MeshDesc meshDesc; - HullDesc hullDesc; - - BulletShape shapeInfo = new BulletShape(cShape); - if (TryGetMeshByPtr(cShape, out meshDesc)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; - shapeInfo.shapeKey = meshDesc.shapeKey; - } - else - { - if (TryGetHullByPtr(cShape, out hullDesc)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL; - shapeInfo.shapeKey = hullDesc.shapeKey; - } - else - { - if (BulletSimAPI.IsCompound2(cShape)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; - } - else - { - if (BulletSimAPI.IsNativeShape2(cShape)) - { - shapeInfo.isNativeShape = true; - shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) - } - } - } - } - - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); - - if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN) - { - DereferenceShape(shapeInfo, true, null); - } - else - { - PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}", - LogHeader, PhysicsScene.RegionName, cShape.ToString()); - } - } - - // Create the geometry information in Bullet for later use. - // The objects needs a hull if it's physical otherwise a mesh is enough. - // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls, - // shared geometries will be used. If the parameters of the existing shape are the same - // as this request, the shape is not rebuilt. - // Info in prim.BSShape is updated to the new shape. - // Returns 'true' if the geometry was rebuilt. - // Called at taint-time! - private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - bool ret = false; - bool haveShape = false; - - if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) - { - // an avatar capsule is close to a native shape (it is not shared) - GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, - FixedShapeKey.KEY_CAPSULE, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); - ret = true; - haveShape = true; - } - - // Compound shapes are handled special as they are rebuilt from scratch. - // This isn't too great a hardship since most of the child shapes will have already been created. - if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) - { - ret = GetReferenceToCompoundShape(prim, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); - haveShape = true; - } - - if (!haveShape) - { - ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback); - } - - return ret; - } - - // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'. - public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - bool ret = false; - bool haveShape = false; - bool nativeShapePossible = true; - PrimitiveBaseShape pbs = prim.BaseShape; - - // If the prim attributes are simple, this could be a simple Bullet native shape - if (!haveShape - && pbs != null - && nativeShapePossible - && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) - || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 - && pbs.ProfileHollow == 0 - && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 - && pbs.PathBegin == 0 && pbs.PathEnd == 0 - && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 - && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 - && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) - { - // Get the scale of any existing shape so we can see if the new shape is same native type and same size. - OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero; - if (prim.PhysShape.HasPhysicalShape) - scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr); - - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}", - prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type); - - // It doesn't look like Bullet scales spheres so make sure the scales are all equal - if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) - && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z) - { - haveShape = true; - if (forceRebuild - || prim.Scale != scaleOfExistingShape - || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE - ) - { - ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE, - FixedShapeKey.KEY_SPHERE, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.PhysShape); - } - } - if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) - { - haveShape = true; - if (forceRebuild - || prim.Scale != scaleOfExistingShape - || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX - ) - { - ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX, - FixedShapeKey.KEY_BOX, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.PhysShape); - } - } - } - - // If a simple shape is not happening, create a mesh and possibly a hull. - if (!haveShape && pbs != null) - { - ret = CreateGeomMeshOrHull(prim, shapeCallback); - } - - return ret; - } - - public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - - bool ret = false; - // Note that if it's a native shape, the check for physical/non-physical is not - // made. Native shapes work in either case. - if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects) - { - // Update prim.BSShape to reference a hull of this shape. - ret = GetReferenceToHull(prim,shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); - } - else - { - ret = GetReferenceToMesh(prim, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); - } - return ret; - } - - // Creates a native shape and assignes it to prim.BSShape. - // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape(). - private bool GetReferenceToNativeShape(BSPhysObject prim, - BSPhysicsShapeType shapeType, FixedShapeKey shapeKey, - ShapeDestructionCallback shapeCallback) - { - // release any previous shape - DereferenceShape(prim.PhysShape, true, shapeCallback); - - BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); - - // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. - if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", - prim.LocalID, newShape, prim.Scale); - - // native shapes are scaled by Bullet - prim.PhysShape = newShape; - return true; - } - - private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType, - FixedShapeKey shapeKey) - { - BulletShape newShape; - // Need to make sure the passed shape information is for the native type. - ShapeData nativeShapeData = new ShapeData(); - nativeShapeData.Type = shapeType; - nativeShapeData.ID = prim.LocalID; - nativeShapeData.Scale = prim.Scale; - nativeShapeData.Size = prim.Scale; // unneeded, I think. - nativeShapeData.MeshKey = (ulong)shapeKey; - nativeShapeData.HullKey = (ulong)shapeKey; - - if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) - { - // The proper scale has been calculated in the prim. - newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) - , shapeType); - if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); - } - else - { - // Native shapes are scaled in Bullet so set the scaling to the size - newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); - } - if (!newShape.HasPhysicalShape) - { - PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", - LogHeader, prim.LocalID, shapeType); - } - newShape.shapeKey = (System.UInt64)shapeKey; - newShape.isNativeShape = true; - - return newShape; - } - - // Builds a mesh shape in the physical world and updates prim.BSShape. - // Dereferences previous shape in BSShape and adds a reference for this new shape. - // Returns 'true' of a mesh was actually built. Otherwise . - // Called at taint-time! - private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - BulletShape newShape = new BulletShape(); - - float lod; - System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - - // if this new shape is the same as last time, don't recreate the mesh - if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH) - return false; - - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); - - // Since we're recreating new, get rid of the reference to the previous shape - DereferenceShape(prim.PhysShape, true, shapeCallback); - - newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod); - // Take evasive action if the mesh was not constructed. - newShape = VerifyMeshCreated(newShape, prim); - - ReferenceShape(newShape); - - prim.PhysShape = newShape; - - return true; // 'true' means a new shape has been added to this prim - } - - private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) - { - IMesh meshData = null; - Object meshPtr = null; - MeshDesc meshDesc; - if (Meshes.TryGetValue(newMeshKey, out meshDesc)) - { - // If the mesh has already been built just use it. - meshPtr = meshDesc.ptr; - } - else - { - meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); - - if (meshData != null) - { - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.getVertexList(); - - float[] verticesAsFloats = new float[vertices.Count * 3]; - int vi = 0; - foreach (OMV.Vector3 vv in vertices) - { - verticesAsFloats[vi++] = vv.X; - verticesAsFloats[vi++] = vv.Y; - verticesAsFloats[vi++] = vv.Z; - } - - // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", - // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); - - meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, - indices.GetLength(0), indices, vertices.Count, verticesAsFloats); - } - } - BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH); - newShape.shapeKey = newMeshKey; - - return newShape; - } - - // See that hull shape exists in the physical world and update prim.BSShape. - // We could be creating the hull because scale changed or whatever. - private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - BulletShape newShape; - - float lod; - System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - - // if the hull hasn't changed, don't rebuild it - if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL) - return false; - - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X")); - - // Remove usage of the previous shape. - DereferenceShape(prim.PhysShape, true, shapeCallback); - - newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod); - newShape = VerifyMeshCreated(newShape, prim); - - ReferenceShape(newShape); - - prim.PhysShape = newShape; - return true; // 'true' means a new shape has been added to this prim - } - - List m_hulls; - private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) - { - - Object hullPtr = null; - HullDesc hullDesc; - if (Hulls.TryGetValue(newHullKey, out hullDesc)) - { - // If the hull shape already is created, just use it. - hullPtr = hullDesc.ptr; - } - else - { - // Build a new hull in the physical world - // Pass true for physicalness as this creates some sort of bounding box which we don't need - IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); - if (meshData != null) - { - - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.getVertexList(); - - //format conversion from IMesh format to DecompDesc format - List convIndices = new List(); - List convVertices = new List(); - for (int ii = 0; ii < indices.GetLength(0); ii++) - { - convIndices.Add(indices[ii]); - } - foreach (OMV.Vector3 vv in vertices) - { - convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); - } - - // setup and do convex hull conversion - m_hulls = new List(); - DecompDesc dcomp = new DecompDesc(); - dcomp.mIndices = convIndices; - dcomp.mVertices = convVertices; - ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); - // create the hull into the _hulls variable - convexBuilder.process(dcomp); - - // Convert the vertices and indices for passing to unmanaged. - // The hull information is passed as a large floating point array. - // The format is: - // convHulls[0] = number of hulls - // convHulls[1] = number of vertices in first hull - // convHulls[2] = hull centroid X coordinate - // convHulls[3] = hull centroid Y coordinate - // convHulls[4] = hull centroid Z coordinate - // convHulls[5] = first hull vertex X - // convHulls[6] = first hull vertex Y - // convHulls[7] = first hull vertex Z - // convHulls[8] = second hull vertex X - // ... - // convHulls[n] = number of vertices in second hull - // convHulls[n+1] = second hull centroid X coordinate - // ... - // - // TODO: is is very inefficient. Someday change the convex hull generator to return - // data structures that do not need to be converted in order to pass to Bullet. - // And maybe put the values directly into pinned memory rather than marshaling. - int hullCount = m_hulls.Count; - int totalVertices = 1; // include one for the count of the hulls - foreach (ConvexResult cr in m_hulls) - { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += cr.HullIndices.Count * 3; // we pass just triangles - } - float[] convHulls = new float[totalVertices]; - - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (ConvexResult cr in m_hulls) - { - // copy vertices for index access - float3[] verts = new float3[cr.HullVertices.Count]; - int kk = 0; - foreach (float3 ff in cr.HullVertices) - { - verts[kk++] = ff; - } - - // add to the array one hull's worth of data - convHulls[jj++] = cr.HullIndices.Count; - convHulls[jj++] = 0f; // centroid x,y,z - convHulls[jj++] = 0f; - convHulls[jj++] = 0f; - foreach (int ind in cr.HullIndices) - { - convHulls[jj++] = verts[ind].x; - convHulls[jj++] = verts[ind].y; - convHulls[jj++] = verts[ind].z; - } - } - // create the hull data structure in Bullet - hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); - } - } - - BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL); - newShape.shapeKey = newHullKey; - - return newShape; - } - - // Callback from convex hull creater with a newly created hull. - // Just add it to our collection of hulls for this shape. - private void HullReturn(ConvexResult result) - { - m_hulls.Add(result); - return; - } - - // Compound shapes are always built from scratch. - // This shouldn't be to bad since most of the parts will be meshes that had been built previously. - private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - // Remove reference to the old shape - // Don't need to do this as the shape is freed when the new root shape is created below. - // DereferenceShape(prim.PhysShape, true, shapeCallback); - - BulletShape cShape = new BulletShape( - BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND); - - // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. - CreateGeomMeshOrHull(prim, shapeCallback); - BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity); - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}", - prim.LocalID, cShape, prim.PhysShape); - - prim.PhysShape = cShape; - - return true; - } - - // Create a hash of all the shape parameters to be used as a key - // for this particular shape. - private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) - { - // level of detail based on size and type of the object - float lod = BSParam.MeshLOD; - if (pbs.SculptEntry) - lod = BSParam.SculptLOD; - - // Mega prims usually get more detail because one can interact with shape approximations at this size. - float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z)); - if (maxAxis > BSParam.MeshMegaPrimThreshold) - lod = BSParam.MeshMegaPrimLOD; - - retLod = lod; - return pbs.GetMeshKey(size, lod); - } - // For those who don't want the LOD - private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs) - { - float lod; - return ComputeShapeKey(size, pbs, out lod); - } - - // The creation of a mesh or hull can fail if an underlying asset is not available. - // There are two cases: 1) the asset is not in the cache and it needs to be fetched; - // and 2) the asset cannot be converted (like failed decompression of JPEG2000s). - // The first case causes the asset to be fetched. The second case requires - // us to not loop forever. - // Called after creating a physical mesh or hull. If the physical shape was created, - // just return. - private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim) - { - // If the shape was successfully created, nothing more to do - if (newShape.HasPhysicalShape) - return newShape; - - // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset - if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero) - { - prim.LastAssetBuildFailed = true; - BSPhysObject xprim = prim; - DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}", - LogHeader, prim.LocalID, prim.LastAssetBuildFailed); - Util.FireAndForget(delegate - { - RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; - if (assetProvider != null) - { - BSPhysObject yprim = xprim; // probably not necessary, but, just in case. - assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) - { - if (!yprim.BaseShape.SculptEntry) - return; - if (yprim.BaseShape.SculptTexture.ToString() != asset.ID) - return; - - yprim.BaseShape.SculptData = asset.Data; - // This will cause the prim to see that the filler shape is not the right - // one and try again to build the object. - // No race condition with the normal shape setting since the rebuild is at taint time. - yprim.ForceBodyShapeRebuild(false); - - }); - } - }); - } - else - { - if (prim.LastAssetBuildFailed) - { - PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}", - LogHeader, prim.LocalID, prim.BaseShape.SculptTexture); - } - } - - // While we figure out the real problem, stick a simple native shape on the object. - BulletShape fillinShape = - BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); - - return fillinShape; - } - - // Create a body object in Bullet. - // Updates prim.BSBody with the information about the new body if one is created. - // Returns 'true' if an object was actually created. - // Called at taint-time. - private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape, - BodyDestructionCallback bodyCallback) - { - bool ret = false; - - // the mesh, hull or native shape must have already been created in Bullet - bool mustRebuild = !prim.PhysBody.HasPhysicalBody; - - // If there is an existing body, verify it's of an acceptable type. - // If not a solid object, body is a GhostObject. Otherwise a RigidBody. - if (!mustRebuild) - { - CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr); - if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY - || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) - { - // If the collisionObject is not the correct type for solidness, rebuild what's there - mustRebuild = true; - } - } - - if (mustRebuild || forceRebuild) - { - // Free any old body - DereferenceBody(prim.PhysBody, true, bodyCallback); - - BulletBody aBody; - Object bodyPtr = null; - if (prim.IsSolid) - { - bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, - prim.LocalID, prim.RawPosition, prim.RawOrientation); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString()); - } - else - { - bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, - prim.LocalID, prim.RawPosition, prim.RawOrientation); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString()); - } - aBody = new BulletBody(prim.LocalID, bodyPtr); - - ReferenceBody(aBody, true); - - prim.PhysBody = aBody; - - ret = true; - } - - return ret; - } - - private bool TryGetMeshByPtr(Object addr, out MeshDesc outDesc) - { - bool ret = false; - MeshDesc foundDesc = new MeshDesc(); - foreach (MeshDesc md in Meshes.Values) - { - if (md.ptr == addr) - { - foundDesc = md; - ret = true; - break; - } - - } - outDesc = foundDesc; - return ret; - } - - private bool TryGetHullByPtr(Object addr, out HullDesc outDesc) - { - bool ret = false; - HullDesc foundDesc = new HullDesc(); - foreach (HullDesc hd in Hulls.Values) - { - if (hd.ptr == addr) - { - foundDesc = hd; - ret = true; - break; - } - - } - outDesc = foundDesc; - return ret; - } - - private void DetailLog(string msg, params Object[] args) - { - if (PhysicsScene.PhysicsLogging.Enabled) - PhysicsScene.DetailLog(msg, args); - } -} -} -- cgit v1.1