/* * 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.Runtime.InteropServices; using System.Security; using System.Text; using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { // Classes to allow some type checking for the API public struct BulletSim { public BulletSim(uint id, IntPtr xx) { ID = id; Ptr = xx; } public IntPtr Ptr; public uint ID; } public struct BulletBody { public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } public IntPtr Ptr; public uint ID; } public struct BulletConstraint { public BulletConstraint(IntPtr xx) { Ptr = xx; } public IntPtr Ptr; } // =============================================================================== [StructLayout(LayoutKind.Sequential)] public struct ConvexHull { Vector3 Offset; int VertexCount; Vector3[] Vertices; } [StructLayout(LayoutKind.Sequential)] public struct ShapeData { public enum PhysicsShapeType { SHAPE_AVATAR = 0, SHAPE_BOX = 1, SHAPE_CONE = 2, SHAPE_CYLINDER = 3, SHAPE_SPHERE = 4, SHAPE_MESH = 5, SHAPE_HULL = 6 }; public uint ID; public PhysicsShapeType Type; public Vector3 Position; public Quaternion Rotation; public Vector3 Velocity; public Vector3 Scale; public float Mass; public float Buoyancy; public System.UInt64 HullKey; public System.UInt64 MeshKey; public float Friction; public float Restitution; public int Collidable; public int Static; // true if a static object. Otherwise gravity, etc. // note that bools are passed as ints since bool size changes by language and architecture public const int numericTrue = 1; public const int numericFalse = 0; } [StructLayout(LayoutKind.Sequential)] public struct SweepHit { public uint ID; public float Fraction; public Vector3 Normal; public Vector3 Point; } [StructLayout(LayoutKind.Sequential)] public struct RaycastHit { public uint ID; public float Fraction; public Vector3 Normal; } [StructLayout(LayoutKind.Sequential)] public struct CollisionDesc { public uint aID; public uint bID; public Vector3 point; public Vector3 normal; } [StructLayout(LayoutKind.Sequential)] public struct EntityProperties { public uint ID; public Vector3 Position; public Quaternion Rotation; public Vector3 Velocity; public Vector3 Acceleration; public Vector3 RotationalVelocity; } // Format of this structure must match the definition in the C++ code [StructLayout(LayoutKind.Sequential)] public struct ConfigurationParameters { public float defaultFriction; public float defaultDensity; public float defaultRestitution; public float collisionMargin; public float gravity; public float linearDamping; public float angularDamping; public float deactivationTime; public float linearSleepingThreshold; public float angularSleepingThreshold; public float ccdMotionThreshold; public float ccdSweptSphereRadius; public float contactProcessingThreshold; public float terrainFriction; public float terrainHitFraction; public float terrainRestitution; public float avatarFriction; public float avatarDensity; public float avatarRestitution; public float avatarCapsuleRadius; public float avatarCapsuleHeight; public float avatarContactProcessingThreshold; public float maxPersistantManifoldPoolSize; public float shouldDisableContactPoolDynamicAllocation; public float shouldForceUpdateAllAabbs; public float shouldRandomizeSolverOrder; public float shouldSplitSimulationIslands; public float shouldEnableFrictionCaching; public float numberOfSolverIterations; public float linkConstraintUseFrameOffset; public float linkConstraintEnableTransMotor; public float linkConstraintTransMotorMaxVel; public float linkConstraintTransMotorMaxForce; public const float numericTrue = 1f; public const float numericFalse = 0f; } // Values used by Bullet and BulletSim to control collisions public enum CollisionFlags : uint { STATIC_OBJECT = 1 << 0, KINEMATIC_OBJECT = 1 << 1, NO_CONTACT_RESPONSE = 1 << 2, CUSTOM_MATERIAL_CALLBACK = 1 << 3, CHARACTER_OBJECT = 1 << 4, DISABLE_VISUALIZE_OBJECT = 1 << 5, DISABLE_SPU_COLLISION_PROCESS = 1 << 6, // Following used by BulletSim to control collisions VOLUME_DETECT_OBJECT = 1 << 10, PHANTOM_OBJECT = 1 << 11, PHYSICAL_OBJECT = 1 << 12, }; // =============================================================================== static class BulletSimAPI { [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [return: MarshalAs(UnmanagedType.LPStr)] public static extern string GetVersion(); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, int maxCollisions, IntPtr collisionArray, int maxUpdates, IntPtr updateArray); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Shutdown(uint worldID); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool UpdateParameter(uint worldID, uint localID, [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value); // =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out IntPtr updatedEntitiesPtr, out int collidersCount, out IntPtr collidersPtr); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CreateObject(uint worldID, ShapeData shapeData); /* Remove old functionality [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddConstraint(uint worldID, uint id1, uint id2, Vector3 frame1, Quaternion frame1rot, Vector3 frame2, Quaternion frame2rot, Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveConstraintByID(uint worldID, uint id1); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetObjectPosition(uint WorldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Quaternion GetObjectOrientation(uint WorldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool HasObject(uint worldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyObject(uint worldID, uint id); // =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 RecoverFromPenetration(uint worldID, uint id); // =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpBulletStatistics(); // Log a debug message [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetDebugLogCallback(DebugLogCallback callback); // =============================================================================== // =============================================================================== // =============================================================================== // A new version of the API that enables moving all the logic out of the C++ code and into // the C# code. This will make modifications easier for the next person. // This interface passes the actual pointers to the objects in the unmanaged // address space. All the management (calls for creation/destruction/lookup) // is done in the C# code. // The names have a "2" tacked on. This will be removed as the C# code gets rebuilt // and the old code is removed. [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetSimHandle2(uint worldID); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); // =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, int maxCollisions, IntPtr collisionArray, int maxUpdates, IntPtr updateArray); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetHeightmap2(IntPtr sim, float[] heightmap); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Shutdown2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int PhysicsStep2(IntPtr sim, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out IntPtr updatedEntitiesPtr, out int collidersCount, out IntPtr collidersPtr); /* [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool BuildHull2(IntPtr sim, IntPtr mesh); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, Vector3 frame1loc, Quaternion frame1rot, Vector3 frame2loc, Quaternion frame2rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool UseFrameOffset2(IntPtr constrain, float enable); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetPosition2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Quaternion GetOrientation2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetDeactivationTime2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetFriction2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetRestitution2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool UpdateInertiaTensor2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetGravity2(IntPtr obj, Vector3 val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr ClearForces2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetMargin2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyObject2(IntPtr world, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpPhysicsStatistics2(IntPtr sim); } }