From 735d89e3692bb7c620b9e3c248a1dbd5924b8b3f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 25 Sep 2012 15:01:18 -0700
Subject: BulletSim: btGhostObjects working to make 'volume detect' work.
 Rearrangement and cleanup of shape collection code. Much more readable.
 Enabling and use of collision filters and masks. Addition of ID to body
 creation BulletSimAPI calls so always set in     shape for collision
 reporting. Change default of ShouldSplitSimulationIslands and
 ShouldRandomizeSolverOrder     from 'false' to 'true'. When 'false', this
 suppresses NO_CONTACT_RESPONSE     which makes volume detect fail.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 28 ++++++++++++++++++++------
 1 file changed, 22 insertions(+), 6 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 5be2b1b..1c6d476 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -271,7 +271,7 @@ public sealed class BSPrim : BSPhysObject
                 _position = BulletSimAPI.GetPosition2(BSBody.ptr);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID);
+            // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
             return _position; 
         } 
         set {
@@ -432,7 +432,7 @@ public sealed class BSPrim : BSPhysObject
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID);
+                // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
                 DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
@@ -492,7 +492,8 @@ public sealed class BSPrim : BSPhysObject
     {
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
 
-        // Mangling all the physical properties requires the object to be out of the physical world
+        // Mangling all the physical properties requires the object to be out of the physical world.
+        // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
         BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
 
 #if !CSHARP_BODY_MANAGEMENT
@@ -517,6 +518,14 @@ public sealed class BSPrim : BSPhysObject
         // Rebuild its shape
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
 
+        // Collision filter can be set only when the object is in the world
+        if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
+        {
+            BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
+            DetailLog("{0},BSPrim.UpdatePhysicalParameters,setCollisionFilterMask,filter={1},mask={2}",
+                        LocalID, BSBody.collisionFilter.ToString("X"), BSBody.collisionMask.ToString("X"));
+        }
+
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
@@ -548,8 +557,11 @@ public sealed class BSPrim : BSPhysObject
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'sleeping' so Bullet will not try to act on it
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
-            // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION);
+            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
+            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+
+            BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
+            BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
         }
         else
         {
@@ -582,6 +594,9 @@ public sealed class BSPrim : BSPhysObject
 
             // Force activation of the object so Bullet will act on it.
             BulletSimAPI.Activate2(BSBody.ptr, true);
+
+            BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
+            BSBody.collisionMask = CollisionFilterGroups.ObjectMask;
         }
     }
 
@@ -609,6 +624,8 @@ public sealed class BSPrim : BSPhysObject
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
             CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
+            BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
         }
 #else
         // If doing the body management in C#, all this logic is in CSShapeCollection.CreateObject().
@@ -745,7 +762,6 @@ public sealed class BSPrim : BSPhysObject
                 // Buoyancy is faked by changing the gravity applied to the object
                 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
-                // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
             });
         } 
     }
-- 
cgit v1.1