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/BSTerrainManager.cs | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 093d2a4..5d5d9cb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -111,8 +111,12 @@ public class BSTerrainManager
                     BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN),
                     ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE);
         m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, 
-                        BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, Vector3.Zero, Quaternion.Identity));
+                        BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, 
+                                                            Vector3.Zero, Quaternion.Identity));
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+        // Everything collides with the ground plane.
+        BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
+                        (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
 
         Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
         Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION);
@@ -304,7 +308,11 @@ public class BSTerrainManager
 
                     mapInfo.terrainBody = new BulletBody(mapInfo.ID, 
                             BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, 
-                                            centerPos, Quaternion.Identity)); 
+                                            id, centerPos, Quaternion.Identity)); 
+
+                    BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr, 
+                                        (uint)CollisionFilterGroups.TerrainFilter,
+                                        (uint)CollisionFilterGroups.TerrainMask);
                 }
 
                 // Make sure the entry is in the heightmap table
-- 
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