BulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanaged

to have pointers and managed to have objects.
Initial paste of XNA code. Commented out.

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -300,7 +300,7 @@ public sealed class BSPrim : BSPhysObject
             // All positions are given in world positions.
             if (_position == value)
             {
-                DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
                 return;
             }
             _position = value;
@@ -910,6 +910,11 @@ public sealed class BSPrim : BSPhysObject
                 DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
             }
         }
+        else
+        {
+            m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
+            DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
+        }
     }
 
     // prims don't fly

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -45,7 +45,7 @@ public sealed class BSShapeCollection : IDisposable
     // Description of a Mesh
     private struct MeshDesc
     {
-        public IntPtr ptr;
+        public BulletShape shape;
         public int referenceCount;
         public DateTime lastReferenced;
         public UInt64 shapeKey;
@@ -55,7 +55,7 @@ public sealed class BSShapeCollection : IDisposable
     // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
     private struct HullDesc
     {
-        public IntPtr ptr;
+        public BulletShape shape;
         public int referenceCount;
         public DateTime lastReferenced;
         public UInt64 shapeKey;
@@ -173,7 +173,7 @@ public sealed class BSShapeCollection : IDisposable
                 }
 
                 // Zero any reference to the shape so it is not freed when the body is deleted.
-                PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, new BulletShape());
+                PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null);
                 PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
             });
         }
@@ -202,7 +202,7 @@ public sealed class BSShapeCollection : IDisposable
                 else
                 {
                     // This is a new reference to a mesh
-                    meshDesc.ptr = shape.ptr;
+                    meshDesc.shape = shape.Clone();
                     meshDesc.shapeKey = shape.shapeKey;
                     // We keep a reference to the underlying IMesh data so a hull can be built
                     meshDesc.referenceCount = 1;
@@ -225,7 +225,7 @@ public sealed class BSShapeCollection : IDisposable
                 else
                 {
                     // This is a new reference to a hull
-                    hullDesc.ptr = shape.ptr;
+                    hullDesc.shape = shape.Clone();
                     hullDesc.shapeKey = shape.shapeKey;
                     hullDesc.referenceCount = 1;
                     if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
@@ -361,15 +361,14 @@ public sealed class BSShapeCollection : IDisposable
         MeshDesc meshDesc;
         HullDesc hullDesc;
 
-        IntPtr cShape = shapeInfo.ptr;
+        if (TryGetMeshByPtr(shapeInfo, out meshDesc))
-        if (TryGetMeshByPtr(cShape, out meshDesc))
         {
             shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
             shapeInfo.shapeKey = meshDesc.shapeKey;
         }
         else
         {
-            if (TryGetHullByPtr(cShape, out hullDesc))
+            if (TryGetHullByPtr(shapeInfo, out hullDesc))
             {
                 shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL;
                 shapeInfo.shapeKey = hullDesc.shapeKey;
@@ -632,7 +631,7 @@ public sealed class BSShapeCollection : IDisposable
         if (Meshes.TryGetValue(newMeshKey, out meshDesc))
         {
             // If the mesh has already been built just use it.
-            newShape = new BulletShape(meshDesc.ptr, BSPhysicsShapeType.SHAPE_MESH);
+            newShape = meshDesc.shape.Clone();
         }
         else
         {
@@ -703,7 +702,7 @@ public sealed class BSShapeCollection : IDisposable
         if (Hulls.TryGetValue(newHullKey, out hullDesc))
         {
             // If the hull shape already is created, just use it.
-            newShape = new BulletShape(hullDesc.ptr, BSPhysicsShapeType.SHAPE_HULL);
+            newShape = hullDesc.shape.Clone();
         }
         else
         {
@@ -965,13 +964,13 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    private bool TryGetMeshByPtr(IntPtr addr, out MeshDesc outDesc)
+    private bool TryGetMeshByPtr(BulletShape shape, out MeshDesc outDesc)
     {
         bool ret = false;
         MeshDesc foundDesc = new MeshDesc();
         foreach (MeshDesc md in Meshes.Values)
         {
-            if (md.ptr == addr)
+            if (md.shape.ReferenceSame(shape))
             {
                 foundDesc = md;
                 ret = true;
@@ -983,13 +982,13 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    private bool TryGetHullByPtr(IntPtr addr, out HullDesc outDesc)
+    private bool TryGetHullByPtr(BulletShape shape, out HullDesc outDesc)
     {
         bool ret = false;
         HullDesc foundDesc = new HullDesc();
         foreach (HullDesc hd in Hulls.Values)
         {
-            if (hd.ptr == addr)
+            if (hd.shape.ReferenceSame(shape))
             {
                 foundDesc = hd;
                 ret = true;

OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs

@@ -33,17 +33,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 // Classes to allow some type checking for the API
 // These hold pointers to allocated objects in the unmanaged space.
+// These classes are subclassed by the various physical implementations of
+// objects. In particular, there is a version for physical instances in
+// unmanaged memory ("unman") and one for in managed memory ("XNA").
+
+// Currently, the instances of these classes are a reference to a
+// physical representation and this has no releationship to other
+// instances. Someday, refarb the usage of these classes so each instance
+// refers to a particular physical instance and this class controls reference
+// counts and such. This should be done along with adding BSShapes.
 
-// The physics engine controller class created at initialization
 public class BulletWorld
 {
-    public BulletWorld(uint worldId, BSScene bss, IntPtr xx)
+    public BulletWorld(uint worldId, BSScene bss)
     {
-        ptr = xx;
         worldID = worldId;
         physicsScene = bss;
     }
-    public IntPtr ptr;
     public uint worldID;
     // The scene is only in here so very low level routines have a handle to print debug/error messages
     public BSScene physicsScene;
@@ -52,27 +58,19 @@ public class BulletWorld
 // An allocated Bullet btRigidBody
 public class BulletBody
 {
-    public BulletBody(uint id) : this(id, IntPtr.Zero)
+    public BulletBody(uint id)
-    {
-    }
-    public BulletBody(uint id, IntPtr xx)
     {
         ID = id;
-        ptr = xx;
         collisionType = CollisionType.Static;
     }
-    public IntPtr ptr;
     public uint ID;
     public CollisionType collisionType;
 
-    public void Clear()
+    public virtual void Clear() { }
-    {
+    public virtual bool HasPhysicalBody { get { return false; } }
-        ptr = IntPtr.Zero;
-    }
-    public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }
 
     // Apply the specificed collision mask into the physical world
-    public bool ApplyCollisionMask(BSScene physicsScene)
+    public virtual bool ApplyCollisionMask(BSScene physicsScene)
     {
         // Should assert the body has been added to the physical world.
         // (The collision masks are stored in the collision proxy cache which only exists for
@@ -83,12 +81,9 @@ public class BulletBody
     }
 
     // Used for log messages for a unique display of the memory/object allocated to this instance
-    public string AddrString
+    public virtual string AddrString
     {
-        get
+        get { return "unknown"; }
-        {
-            return ptr.ToString("X");
-        }
     }
 
     public override string ToString()
@@ -108,38 +103,26 @@ public class BulletBody
 public class BulletShape
 {
     public BulletShape()
-        : this(IntPtr.Zero, BSPhysicsShapeType.SHAPE_UNKNOWN)
     {
-    }
+        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
-    public BulletShape(IntPtr xx)
-        : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN)
-    {
-    }
-    public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
-    {
-        ptr = xx;
-        type = typ;
         shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
         isNativeShape = false;
     }
-    public IntPtr ptr;
     public BSPhysicsShapeType type;
     public System.UInt64 shapeKey;
     public bool isNativeShape;
 
-    public void Clear()
+    public virtual void Clear() { }
-    {
+    public virtual bool HasPhysicalShape { get { return false; } }
-        ptr = IntPtr.Zero;
+    // Make another reference to this physical object.
-    }
+    public virtual BulletShape Clone() { return new BulletShape(); }
-    public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }
+    // Return 'true' if this and other refer to the same physical object
+    public virtual bool ReferenceSame(BulletShape xx) { return false; }
 
     // Used for log messages for a unique display of the memory/object allocated to this instance
-    public string AddrString
+    public virtual string AddrString
     {
-        get
+        get { return "unknown"; }
-        {
-            return ptr.ToString("X");
-        }
     }
 
     public override string ToString()
@@ -161,25 +144,16 @@ public class BulletShape
 // An allocated Bullet btConstraint
 public class BulletConstraint
 {
-    public BulletConstraint(IntPtr xx)
+    public BulletConstraint()
     {
-        ptr = xx;
     }
-    public IntPtr ptr;
+    public virtual void Clear() { }
-
+    public virtual bool HasPhysicalConstraint { get { return false; } }
-    public void Clear()
-    {
-        ptr = IntPtr.Zero;
-    }
-    public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
 
     // Used for log messages for a unique display of the memory/object allocated to this instance
-    public string AddrString
+    public virtual string AddrString
     {
-        get
+        get { return "unknown"; }
-        {
-            return ptr.ToString("X");
-        }
     }
 }