/* * 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.BulletSPlugin { public class BSShapeCollection : IDisposable { // private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; protected BSScene PhysicsScene { get; set; } private Object m_collectionActivityLock = new Object(); // Description of a Mesh private struct MeshDesc { public IntPtr ptr; public int referenceCount; public DateTime lastReferenced; } // Description of a hull. // Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects private struct HullDesc { public IntPtr ptr; public int referenceCount; public DateTime lastReferenced; } private struct BodyDesc { public IntPtr ptr; // Bodies are only used once so reference count is always either one or zero public int referenceCount; public DateTime lastReferenced; } private Dictionary Meshes = new Dictionary(); private Dictionary Hulls = new Dictionary(); private Dictionary Bodies = new Dictionary(); public BSShapeCollection(BSScene physScene) { PhysicsScene = physScene; } 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. // Called at taint-time!! public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) { 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 requested shape bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, 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 bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback); ret = newGeom || newBody; } DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}", prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); return ret; } // 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. public void ReferenceBody(BulletBody body, bool inTaintTime) { lock (m_collectionActivityLock) { BodyDesc bodyDesc; if (Bodies.TryGetValue(body.ID, out bodyDesc)) { bodyDesc.referenceCount++; DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,body={1},ref={2}", body.ID, body, bodyDesc.referenceCount); } else { // New entry bodyDesc.ptr = body.ptr; bodyDesc.referenceCount = 1; DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={2}", body.ID, body, bodyDesc.referenceCount); BSScene.TaintCallback createOperation = delegate() { if (!BulletSimAPI.IsInWorld2(body.ptr)) { BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); } }; if (inTaintTime) createOperation(); else PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation); } bodyDesc.lastReferenced = System.DateTime.Now; Bodies[body.ID] = bodyDesc; } } // 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.ptr == IntPtr.Zero) return; lock (m_collectionActivityLock) { BodyDesc bodyDesc; if (Bodies.TryGetValue(body.ID, out bodyDesc)) { bodyDesc.referenceCount--; bodyDesc.lastReferenced = System.DateTime.Now; Bodies[body.ID] = bodyDesc; DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount); // If body is no longer being used, free it -- bodies can never be shared. if (bodyDesc.referenceCount == 0) { Bodies.Remove(body.ID); BSScene.TaintCallback removeOperation = delegate() { DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}", body.ID, body.ptr.ToString("X"), inTaintTime); // If the caller needs to know the old body is going away, pass the event up. if (bodyCallback != null) bodyCallback(body); // It may have already been removed from the world in which case the next is a NOOP. BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); // Zero any reference to the shape so it is not freed when the body is deleted. BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); }; // If already in taint-time, do the operations now. Otherwise queue for later. if (inTaintTime) removeOperation(); else PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation); } } else { DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount); } } } // 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. private bool ReferenceShape(BulletShape shape) { bool ret = false; switch (shape.type) { case ShapeData.PhysicsShapeType.SHAPE_MESH: MeshDesc meshDesc; if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) { // There is an existing instance of this mesh. meshDesc.referenceCount++; 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; // We keep a reference to the underlying IMesh data so a hull can be built meshDesc.referenceCount = 1; 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 ShapeData.PhysicsShapeType.SHAPE_HULL: HullDesc hullDesc; if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) { // There is an existing instance of this hull. hullDesc.referenceCount++; 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.referenceCount = 1; 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 ShapeData.PhysicsShapeType.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. // The collisionObject is released since it is a copy of the real collision shape. public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) { if (shape.ptr == IntPtr.Zero) return; BSScene.TaintCallback dereferenceOperation = delegate() { switch (shape.type) { 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: // 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); } break; } }; if (inTaintTime) { lock (m_collectionActivityLock) { dereferenceOperation(); } } else { PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation); } } // 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; DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), 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?) if (shapeCallback != null) shapeCallback(shape); hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); } } // 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, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) { bool ret = false; bool haveShape = false; bool nativeShapePossible = true; if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { // an avatar capsule is close to a native shape (it is not shared) ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); haveShape = true; } // If the prim attributes are simple, this could be a simple Bullet native shape if (!haveShape && pbs != null && nativeShapePossible && ((pbs.SculptEntry && !PhysicsScene.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) ) ) { 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 != shapeData.Size || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE ) { ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.BSShape); } } if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) { haveShape = true; if (forceRebuild || prim.Scale != shapeData.Size || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX ) { ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.BSShape); } } } // If a simple shape is not happening, create a mesh and possibly a hull. // Note that if it's a native shape, the check for physical/non-physical is not // made. Native shapes are best used in either case. if (!haveShape && pbs != null) { if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) { // Update prim.BSShape to reference a hull of this shape. ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); } else { ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", shapeData.ID, prim.BSShape, prim.BSShape.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, ShapeData shapeData, 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 prim.Scale = shapeData.Size; shapeData.Scale = shapeData.Size; // release any previous shape DereferenceShape(prim.BSShape, true, shapeCallback); if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape(BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, shapeData), shapeType); newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; } else { // Native shapes are always built independently. newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; } // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); prim.BSShape = newShape; return true; } // 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, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) { BulletShape newShape = new BulletShape(IntPtr.Zero); float lod; System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); // if this new shape is the same as last time, don't recreate the mesh if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH) return false; DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}", prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); // Since we're recreating new, get rid of the reference to the previous shape DereferenceShape(prim.BSShape, true, shapeCallback); newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod); ReferenceShape(newShape); // meshes are already scaled by the meshmerizer prim.Scale = new OMV.Vector3(1f, 1f, 1f); prim.BSShape = 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; IntPtr meshPtr; MeshDesc meshDesc; if (Meshes.TryGetValue(newMeshKey, out meshDesc)) { // If the mesh has already been built just use it. meshPtr = meshDesc.ptr; } else { // 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) { 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); } BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.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, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) { BulletShape newShape; float lod; System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod); // if the hull hasn't changed, don't rebuild it if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) return false; DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); // Remove usage of the previous shape. DereferenceShape(prim.BSShape, true, shapeCallback); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); ReferenceShape(newShape); // hulls are already scaled by the meshmerizer prim.Scale = new OMV.Vector3(1f, 1f, 1f); prim.BSShape = 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) { IntPtr hullPtr; 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 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) { 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, ShapeData.PhysicsShapeType.SHAPE_HULL); newShape.shapeKey = newHullKey; return newShape; // 'true' means a new shape has been added to this prim } // 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; } // Create a hash of all the shape parameters to be used as a key // for this particular shape. private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod) { // level of detail based on size and type of the object float lod = PhysicsScene.MeshLOD; if (pbs.SculptEntry) lod = PhysicsScene.SculptLOD; // Mega prims usually get more detail because one can interact with shape approximations at this size. float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z)); if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) lod = PhysicsScene.MeshMegaPrimLOD; retLod = lod; return pbs.GetMeshKey(shapeData.Size, lod); } // For those who don't want the LOD private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs) { float lod; return ComputeShapeKey(shapeData, pbs, out lod); } // 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, BulletSim sim, BulletShape shape, ShapeData shapeData, BodyDestructionCallback bodyCallback) { bool ret = false; // the mesh, hull or native shape must have already been created in Bullet bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero); // 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.BSBody.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.BSBody, true, bodyCallback); BulletBody aBody; IntPtr bodyPtr = IntPtr.Zero; if (prim.IsSolid) { bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, shapeData.ID, shapeData.Position, shapeData.Rotation); DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } else { bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, shapeData.ID, shapeData.Position, shapeData.Rotation); DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } aBody = new BulletBody(shapeData.ID, bodyPtr); ReferenceBody(aBody, true); prim.BSBody = aBody; ret = true; } return ret; } private void DetailLog(string msg, params Object[] args) { if (PhysicsScene.PhysicsLogging.Enabled) PhysicsScene.DetailLog(msg, args); } } }