path: root/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

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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<ulong, MeshDesc> Meshes = new Dictionary<ulong, MeshDesc>();
    private Dictionary<ulong, HullDesc> Hulls = new Dictionary<ulong, HullDesc>();
    private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>();

    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, BSPrim 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 atTaintTime)
    {
        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={1}", body.ID, body, bodyDesc.referenceCount);
            }
            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 are never shared.
                if (bodyDesc.referenceCount == 0)
                {
                    Bodies.Remove(body.ID);
                    BSScene.TaintCallback removeOperation = delegate()
                    {
                        DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}",
                                                    body.ID, body.ptr.ToString("X"));
                        // If the caller needs to know, pass the event up.
                        if (bodyCallback != null) bodyCallback(body);

                        // 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);
                        // It may have already been removed from the world in which case the next is a NOOP.
                        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
                        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},BSShapeColliction.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},BSShapeColliction.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},BSShapeColliction.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},BSShapeColliction.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 atTaintTime, 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"), atTaintTime);
                        if (shapeCallback != null) shapeCallback(shape);
                        BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
                    }
                    break;
            }
        };
        if (atTaintTime)
        {
            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.
    // No locking here because this is done when we know physics is not simulating.
    // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
    // Returns 'true' if the geometry was rebuilt.
    // Called at taint-time!
    private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData, 
                            PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
    {
        bool ret = false;
        bool haveShape = false;
        bool nativeShapePossible = true;

        // If the prim attributes are simple, this could be a simple Bullet native shape
        if (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)
            {
                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);
                }
            }
            else
            {
                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)
        {
            if (prim.IsPhysical)
            {
                // 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
    private bool GetReferenceToNativeShape( BSPrim 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);

        // Native shapes are always built independently.
        newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
        newShape.shapeKey = (ulong)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(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                ShapeDestructionCallback shapeCallback)
    {
        BulletShape newShape = new BulletShape(IntPtr.Zero);

        float lod;
        ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);

        // if this new shape is the same as last time, don't recreate the mesh
        if (prim.BSShape.shapeKey == newMeshKey) 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, ulong 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<OMV.Vector3> 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(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                ShapeDestructionCallback shapeCallback)
    {
        BulletShape newShape;

        float lod;
        ulong 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. Also removes reference to underlying mesh if it is a hull.
        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<ConvexResult> m_hulls;
    private BulletShape CreatePhysicalHull(string objName, ulong 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<OMV.Vector3> vertices = meshData.getVertexList();

            //format conversion from IMesh format to DecompDesc format
            List<int> convIndices = new List<int>();
            List<float3> convVertices = new List<float3>();
            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<ConvexResult>();
            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 ulong 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;

        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 (ulong)pbs.GetMeshKey(shapeData.Size, lod);
    }
    // For those who don't want the LOD
    private ulong 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, BSPrim 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)
        {
            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)
    {
        PhysicsScene.PhysicsLogging.Write(msg, args);
    }
}
}