From d94c4646ccf0703019dd5a7915afb43706a4de35 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 19 Oct 2012 15:43:31 -0700 Subject: BulletSim: add asset fetching so BulletSim works with new physics asset handling. Refactor some names to make them available for the asset tracking and fetching. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 3 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 + OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 96 +++---- .../Physics/BulletSPlugin/BSShapeCollection.cs | 296 +++++++++++++-------- 4 files changed, 240 insertions(+), 165 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index fc4526b..623ac8f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -200,10 +200,9 @@ public class BSCharacter : BSPhysObject } } public override OMV.Vector3 Scale { get; set; } - private PrimitiveBaseShape _pbs; public override PrimitiveBaseShape Shape { - set { _pbs = value;} + set { BaseShape = value; } } public override bool Grabbed { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 202052d..ead6a08 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -47,6 +47,7 @@ public abstract class BSPhysObject : PhysicsActor TypeName = typeName; Linkset = new BSLinkset(PhysicsScene, this); + LastAssetBuildFailed = false; CollisionCollection = new CollisionEventUpdate(); SubscribedEventsMs = 0; @@ -69,6 +70,13 @@ public abstract class BSPhysObject : PhysicsActor // Reference to the physical shape (btCollisionShape) of this object public BulletShape BSShape; + // 'true' if the mesh's underlying asset failed to build. + // This will keep us from looping after the first time the build failed. + public bool LastAssetBuildFailed { get; set; } + + // The objects base shape information. Null if not a prim type shape. + public PrimitiveBaseShape BaseShape { get; protected set; } + // When the physical properties are updated, an EntityProperty holds the update values. // Keep the current and last EntityProperties to enable computation of differences // between the current update and the previous values. @@ -101,6 +109,8 @@ public abstract class BSPhysObject : PhysicsActor public abstract float ForceBuoyancy { get; set; } + public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } + #region Collisions // Requested number of milliseconds between collision events. Zero means disabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8013e68..aeeb4dd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -46,8 +46,6 @@ public sealed class BSPrim : BSPhysObject private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; - private PrimitiveBaseShape _pbs; - // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. // Often Scale is unity because the meshmerizer will apply _size when creating the mesh. private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user @@ -103,7 +101,7 @@ public sealed class BSPrim : BSPhysObject _buoyancy = 1f; _velocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; - _pbs = pbs; + BaseShape = pbs; _isPhysical = pisPhysical; _isVolumeDetect = false; _friction = PhysicsScene.Params.defaultFriction; // TODO: compute based on object material @@ -160,14 +158,7 @@ public sealed class BSPrim : BSPhysObject get { return _size; } set { _size = value; - PhysicsScene.TaintedObject("BSPrim.setSize", delegate() - { - _mass = CalculateMass(); // changing size changes the mass - // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct - // scale and margins are set. - CreateGeomAndObject(true); - // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, Scale, _mass, IsPhysical); - }); + ForceBodyShapeRebuild(false); } } // Scale is what we set in the physics engine. It is different than 'size' in that @@ -176,14 +167,23 @@ public sealed class BSPrim : BSPhysObject public override PrimitiveBaseShape Shape { set { - _pbs = value; - PhysicsScene.TaintedObject("BSPrim.setShape", delegate() - { - _mass = CalculateMass(); // changing the shape changes the mass - CreateGeomAndObject(true); - }); + BaseShape = value; + ForceBodyShapeRebuild(false); } } + public override bool ForceBodyShapeRebuild(bool inTaintTime) + { + BSScene.TaintCallback rebuildOperation = delegate() + { + _mass = CalculateMass(); // changing the shape changes the mass + CreateGeomAndObject(true); + }; + if (inTaintTime) + rebuildOperation(); + else + PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation); + return true; + } public override bool Grabbed { set { _grabbed = value; } @@ -924,19 +924,19 @@ public sealed class BSPrim : BSPhysObject float tmp; float returnMass = 0; - float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; + float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f; float hollowVolume = hollowAmount * hollowAmount; - switch (_pbs.ProfileShape) + switch (BaseShape.ProfileShape) { case ProfileShape.Square: // default box - if (_pbs.PathCurve == (byte)Extrusion.Straight) + if (BaseShape.PathCurve == (byte)Extrusion.Straight) { if (hollowAmount > 0.0) { - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Square: case HollowShape.Same: @@ -960,19 +960,19 @@ public sealed class BSPrim : BSPhysObject } } - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) { //a tube - volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); - tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); + volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX); + tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY); volume -= volume*tmp*tmp; if (hollowAmount > 0.0) { hollowVolume *= hollowAmount; - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Square: case HollowShape.Same: @@ -997,13 +997,13 @@ public sealed class BSPrim : BSPhysObject case ProfileShape.Circle: - if (_pbs.PathCurve == (byte)Extrusion.Straight) + if (BaseShape.PathCurve == (byte)Extrusion.Straight) { volume *= 0.78539816339f; // elipse base if (hollowAmount > 0.0) { - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Same: case HollowShape.Circle: @@ -1025,10 +1025,10 @@ public sealed class BSPrim : BSPhysObject } } - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) { - volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); + volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX); + tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY); volume *= (1.0f - tmp * tmp); if (hollowAmount > 0.0) @@ -1037,7 +1037,7 @@ public sealed class BSPrim : BSPhysObject // calculate the hollow volume by it's shape compared to the prim shape hollowVolume *= hollowAmount; - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Same: case HollowShape.Circle: @@ -1061,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject break; case ProfileShape.HalfCircle: - if (_pbs.PathCurve == (byte)Extrusion.Curve1) + if (BaseShape.PathCurve == (byte)Extrusion.Curve1) { volume *= 0.52359877559829887307710723054658f; } @@ -1069,7 +1069,7 @@ public sealed class BSPrim : BSPhysObject case ProfileShape.EquilateralTriangle: - if (_pbs.PathCurve == (byte)Extrusion.Straight) + if (BaseShape.PathCurve == (byte)Extrusion.Straight) { volume *= 0.32475953f; @@ -1077,7 +1077,7 @@ public sealed class BSPrim : BSPhysObject { // calculate the hollow volume by it's shape compared to the prim shape - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Same: case HollowShape.Triangle: @@ -1102,11 +1102,11 @@ public sealed class BSPrim : BSPhysObject volume *= (1.0f - hollowVolume); } } - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) { volume *= 0.32475953f; - volume *= 0.01f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); + volume *= 0.01f * (float)(200 - BaseShape.PathScaleX); + tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY); volume *= (1.0f - tmp * tmp); if (hollowAmount > 0.0) @@ -1114,7 +1114,7 @@ public sealed class BSPrim : BSPhysObject hollowVolume *= hollowAmount; - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Same: case HollowShape.Triangle: @@ -1154,26 +1154,26 @@ public sealed class BSPrim : BSPhysObject float profileBegin; float profileEnd; - if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) + if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible) { - taperX1 = _pbs.PathScaleX * 0.01f; + taperX1 = BaseShape.PathScaleX * 0.01f; if (taperX1 > 1.0f) taperX1 = 2.0f - taperX1; taperX = 1.0f - taperX1; - taperY1 = _pbs.PathScaleY * 0.01f; + taperY1 = BaseShape.PathScaleY * 0.01f; if (taperY1 > 1.0f) taperY1 = 2.0f - taperY1; taperY = 1.0f - taperY1; } else { - taperX = _pbs.PathTaperX * 0.01f; + taperX = BaseShape.PathTaperX * 0.01f; if (taperX < 0.0f) taperX = -taperX; taperX1 = 1.0f - taperX; - taperY = _pbs.PathTaperY * 0.01f; + taperY = BaseShape.PathTaperY * 0.01f; if (taperY < 0.0f) taperY = -taperY; taperY1 = 1.0f - taperY; @@ -1183,13 +1183,13 @@ public sealed class BSPrim : BSPhysObject volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); - pathBegin = (float)_pbs.PathBegin * 2.0e-5f; - pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; + pathBegin = (float)BaseShape.PathBegin * 2.0e-5f; + pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f; volume *= (pathEnd - pathBegin); // this is crude aproximation - profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; - profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; + profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f; + profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f; volume *= (profileEnd - profileBegin); returnMass = _density * volume; @@ -1251,7 +1251,7 @@ public sealed class BSPrim : BSPhysObject // Create the correct physical representation for this type of object. // Updates BSBody and BSShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. - PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs, + PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, null, delegate(BulletBody dBody) { // Called if the current prim body is about to be destroyed. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 861ffe7..d3ba273 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -117,7 +117,7 @@ public class BSShapeCollection : IDisposable // Track another user of a body // We presume the caller has allocated the body. - // Bodies only have one user so the reference count is either 1 or 0. + // 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) @@ -241,26 +241,32 @@ public class BSShapeCollection : IDisposable BSScene.TaintCallback dereferenceOperation = delegate() { - switch (shape.type) + if (shape.ptr != IntPtr.Zero) { - case ShapeData.PhysicsShapeType.SHAPE_HULL: - DereferenceHull(shape, shapeCallback); - break; - case ShapeData.PhysicsShapeType.SHAPE_MESH: - DereferenceMesh(shape, shapeCallback); - break; - case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: - break; - default: + if (shape.isNativeShape) + { // Native shapes are not tracked and are released immediately - if (shape.ptr != IntPtr.Zero & shape.isNativeShape) + DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", + BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); + if (shapeCallback != null) shapeCallback(shape); + BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); + } + else + { + switch (shape.type) { - DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", - BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); - if (shapeCallback != null) shapeCallback(shape); - BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); + case ShapeData.PhysicsShapeType.SHAPE_HULL: + DereferenceHull(shape, shapeCallback); + break; + case ShapeData.PhysicsShapeType.SHAPE_MESH: + DereferenceMesh(shape, shapeCallback); + break; + case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: + break; + default: + break; } - break; + } } }; if (inTaintTime) @@ -405,7 +411,6 @@ public class BSShapeCollection : IDisposable ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, ShapeDestructionCallback shapeCallback) { - BulletShape newShape; shapeData.Type = shapeType; // Bullet native objects are scaled by the Bullet engine so pass the size in @@ -415,27 +420,35 @@ public class BSShapeCollection : IDisposable // release any previous shape DereferenceShape(prim.BSShape, true, shapeCallback); + BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey); + + // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. + DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", + shapeData.ID, newShape, shapeData.Scale); + + prim.BSShape = newShape; + return true; + } + + private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType, + ShapeData shapeData, ShapeData.FixedShapeKey shapeKey) + { + BulletShape newShape; + if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape( BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), shapeType); - newShape.shapeKey = (System.UInt64)shapeKey; - newShape.isNativeShape = true; } else { newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); - newShape.shapeKey = (System.UInt64)shapeKey; - newShape.isNativeShape = true; } + newShape.shapeKey = (System.UInt64)shapeKey; + newShape.isNativeShape = true; - // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. - DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", - shapeData.ID, newShape, shapeData.Scale); - - prim.BSShape = newShape; - return true; + return newShape; } // Builds a mesh shape in the physical world and updates prim.BSShape. @@ -461,6 +474,8 @@ public class BSShapeCollection : IDisposable DereferenceShape(prim.BSShape, true, shapeCallback); newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod); + // Take evasive action if the mesh was not constructed. + newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs); ReferenceShape(newShape); @@ -474,7 +489,7 @@ public class BSShapeCollection : IDisposable private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { IMesh meshData = null; - IntPtr meshPtr; + IntPtr meshPtr = IntPtr.Zero; MeshDesc meshDesc; if (Meshes.TryGetValue(newMeshKey, out meshDesc)) { @@ -486,23 +501,26 @@ public class BSShapeCollection : IDisposable // Pass false for physicalness as this creates some sort of bounding box which we don't need meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.getVertexList(); - - float[] verticesAsFloats = new float[vertices.Count * 3]; - int vi = 0; - foreach (OMV.Vector3 vv in vertices) + if (meshData != null) { - verticesAsFloats[vi++] = vv.X; - verticesAsFloats[vi++] = vv.Y; - verticesAsFloats[vi++] = vv.Z; - } + int[] indices = meshData.getIndexListAsInt(); + List vertices = meshData.getVertexList(); - // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", - // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); + 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}: CreateGeomMesh: 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); + meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, + indices.GetLength(0), indices, vertices.Count, verticesAsFloats); + } } BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); newShape.shapeKey = newMeshKey; @@ -531,6 +549,7 @@ public class BSShapeCollection : IDisposable DereferenceShape(prim.BSShape, true, shapeCallback); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); + newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs); ReferenceShape(newShape); @@ -544,7 +563,7 @@ public class BSShapeCollection : IDisposable private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { - IntPtr hullPtr; + IntPtr hullPtr = IntPtr.Zero; HullDesc hullDesc; if (Hulls.TryGetValue(newHullKey, out hullDesc)) { @@ -556,86 +575,89 @@ public class BSShapeCollection : IDisposable // Build a new hull in the physical world // Pass false for physicalness as this creates some sort of bounding box which we don't need IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); - - 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) + if (meshData != null) { - 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]; + int[] indices = meshData.getIndexListAsInt(); + List vertices = meshData.getVertexList(); - 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) + //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++) { - verts[kk++] = ff; + convIndices.Add(indices[ii]); + } + foreach (OMV.Vector3 vv in vertices) + { + convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); } - // 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) + // 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) { - convHulls[jj++] = verts[ind].x; - convHulls[jj++] = verts[ind].y; - convHulls[jj++] = verts[ind].z; + 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); } - // create the hull data structure in Bullet - hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); } BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); @@ -676,6 +698,50 @@ public class BSShapeCollection : IDisposable return ComputeShapeKey(shapeData, pbs, out lod); } + private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs) + { + // If the shape was successfully created, nothing more to do + if (newShape.ptr != IntPtr.Zero) + return newShape; + + // The most common reason for failure is that an underlying asset is not available + + // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset + if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero) + { + prim.LastAssetBuildFailed = true; + BSPhysObject xprim = prim; + 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 = new byte[asset.Data.Length]; + asset.Data.CopyTo(yprim.BaseShape.SculptData, 0); + // This will cause the prim to see that the filler shape is not the right + // one and try again to build the object. + yprim.ForceBodyShapeRebuild(false); + + }); + } + }); + } + + // While we figure out the real problem, stick a simple native shape on the object. + BulletShape fillinShape = + BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_SPHERE, shapeData, ShapeData.FixedShapeKey.KEY_SPHERE); + + 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. -- cgit v1.1