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* This adds llVolumeDetect functionality to the C# implementation of BulletSim.

user_profiles
teravus 2013-01-25 20:15:37 -05:00
parent c3fb114461
commit 5128ae7b86
1 changed files with 113 additions and 83 deletions
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196
OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
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@ -137,6 +137,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
internal int LastEntityProperty = 0; internal int LastEntityProperty = 0;
internal EntityProperties[] UpdatedObjects; internal EntityProperties[] UpdatedObjects;
internal Dictionary<uint, GhostObject> specialCollisionObjects;
private static int m_collisionsThisFrame; private static int m_collisionsThisFrame;
private BSScene PhysicsScene { get; set; } private BSScene PhysicsScene { get; set; }
@ -158,7 +159,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
{ {
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody body = ((BulletBodyXNA)pBody).rigidBody; RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
world.RemoveRigidBody(body); CollisionObject collisionObject = ((BulletBodyXNA)pBody).body;
if (body != null)
world.RemoveRigidBody(body);
else if (collisionObject != null)
world.RemoveCollisionObject(collisionObject);
else
return false;
return true; return true;
} }
@ -182,7 +189,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void SetRestitution(BulletBody pCollisionObject, float pRestitution) public override void SetRestitution(BulletBody pCollisionObject, float pRestitution)
{ {
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
collisionObject.SetRestitution(pRestitution); collisionObject.SetRestitution(pRestitution);
} }
@ -219,13 +226,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold) public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold)
{ {
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
collisionObject.SetCcdMotionThreshold(pccdMotionThreashold); collisionObject.SetCcdMotionThreshold(pccdMotionThreashold);
} }
public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius) public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius)
{ {
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
} }
@ -262,7 +269,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
} }
else else
{ {
world.AddCollisionObject(rbody); world.AddCollisionObject(cbody);
} }
cbody.SetWorldTransform(origPos); cbody.SetWorldTransform(origPos);
@ -303,7 +310,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask) public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask)
{ {
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0) if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0)
@ -390,7 +397,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation) public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation)
{ {
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
_orientation.W); _orientation.W);
@ -418,8 +425,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
{ {
RigidBody body = (pBody as BulletBodyXNA).rigidBody; RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); if (body != null) // Can't set mass props on collision object.
body.SetMassProps(pphysMass, inertia); {
IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
body.SetMassProps(pphysMass, inertia);
}
} }
@ -432,7 +442,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void SetFriction(BulletBody pCollisionObject, float _currentFriction) public override void SetFriction(BulletBody pCollisionObject, float _currentFriction)
{ {
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
collisionObject.SetFriction(_currentFriction); collisionObject.SetFriction(_currentFriction);
} }
@ -459,7 +469,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
{ {
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
existingcollisionFlags &= ~pcollisionFlags; existingcollisionFlags &= ~pcollisionFlags;
collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
@ -494,8 +504,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void SetGravity(BulletBody pBody, Vector3 pGravity) public override void SetGravity(BulletBody pBody, Vector3 pGravity)
{ {
RigidBody body = (pBody as BulletBodyXNA).rigidBody; RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); if (body != null) // Can't set collisionobject.set gravity
body.SetGravity(gravity); {
IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
body.SetGravity(gravity);
}
} }
public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
@ -733,7 +746,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void UpdateInertiaTensor(BulletBody pBody) public override void UpdateInertiaTensor(BulletBody pBody)
{ {
RigidBody body = (pBody as BulletBodyXNA).rigidBody; RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.UpdateInertiaTensor(); if (body != null) // can't update inertia tensor on CollisionObject
body.UpdateInertiaTensor();
} }
public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
@ -770,7 +784,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject) public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject)
{ {
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
return (CollisionObjectTypes)(int) collisionObject.GetInternalType(); return (CollisionObjectTypes)(int) collisionObject.GetInternalType();
} }
@ -889,7 +903,18 @@ private sealed class BulletConstraintXNA : BulletConstraint
world.RemoveRigidBody(bo); world.RemoveRigidBody(bo);
} }
} }
if (co != null)
{
if (co.GetUserPointer() != null)
{
uint localId = (uint) co.GetUserPointer();
if (specialCollisionObjects.ContainsKey(localId))
{
specialCollisionObjects.Remove(localId);
}
}
}
} }
public override void Shutdown(BulletWorld pWorld) public override void Shutdown(BulletWorld pWorld)
@ -1050,7 +1075,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
m_maxCollisions = maxCollisions; m_maxCollisions = maxCollisions;
m_maxUpdatesPerFrame = maxUpdates; m_maxUpdatesPerFrame = maxUpdates;
specialCollisionObjects = new Dictionary<uint, GhostObject>();
return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
} }
@ -1310,6 +1335,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
CollisionShape shape = (pShape as BulletShapeXNA).shape; CollisionShape shape = (pShape as BulletShapeXNA).shape;
gObj.SetCollisionShape(shape); gObj.SetCollisionShape(shape);
gObj.SetUserPointer(pLocalID); gObj.SetUserPointer(pLocalID);
if (specialCollisionObjects.ContainsKey(pLocalID))
specialCollisionObjects[pLocalID] = gObj;
else
specialCollisionObjects.Add(pLocalID, gObj);
// TODO: Add to Special CollisionObjects! // TODO: Add to Special CollisionObjects!
return new BulletBodyXNA(pLocalID, gObj); return new BulletBodyXNA(pLocalID, gObj);
} }
@ -1399,7 +1430,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
} }
public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) {
/* TODO */
if (cShape == null) if (cShape == null)
return null; return null;
CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape;
@ -1407,7 +1438,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
return null; return retShape;
} }
public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
@ -1802,26 +1833,29 @@ private sealed class BulletConstraintXNA : BulletConstraint
numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
int updates = 0; int updates = 0;
PersistentManifold contactManifold;
CollisionObject objA;
CollisionObject objB;
ManifoldPoint manifoldPoint;
PairCachingGhostObject pairCachingGhostObject;
m_collisionsThisFrame = 0; m_collisionsThisFrame = 0;
int numManifolds = world.GetDispatcher().GetNumManifolds(); int numManifolds = world.GetDispatcher().GetNumManifolds();
for (int j = 0; j < numManifolds; j++) for (int j = 0; j < numManifolds; j++)
{ {
PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
int numContacts = contactManifold.GetNumContacts(); int numContacts = contactManifold.GetNumContacts();
if (numContacts == 0) if (numContacts == 0)
continue; continue;
CollisionObject objA = contactManifold.GetBody0() as CollisionObject; objA = contactManifold.GetBody0() as CollisionObject;
CollisionObject objB = contactManifold.GetBody1() as CollisionObject; objB = contactManifold.GetBody1() as CollisionObject;
ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0); manifoldPoint = contactManifold.GetContactPoint(0);
IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); //IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A // IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
RecordCollision(this, objA, objB, contactPoint, contactNormal,manifoldPoint.GetDistance()); RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance());
m_collisionsThisFrame ++; m_collisionsThisFrame ++;
if (m_collisionsThisFrame >= 9999999) if (m_collisionsThisFrame >= 9999999)
break; break;
@ -1829,12 +1863,19 @@ private sealed class BulletConstraintXNA : BulletConstraint
} }
foreach (GhostObject ghostObject in specialCollisionObjects.Values)
{
pairCachingGhostObject = ghostObject as PairCachingGhostObject;
if (pairCachingGhostObject != null)
{
RecordGhostCollisions(pairCachingGhostObject);
}
}
updatedEntityCount = LastEntityProperty; updatedEntityCount = LastEntityProperty;
updatedEntities = UpdatedObjects; updatedEntities = UpdatedObjects;
collidersCount = LastCollisionDesc; collidersCount = LastCollisionDesc;
colliders = UpdatedCollisions; colliders = UpdatedCollisions;
@ -1860,60 +1901,49 @@ private sealed class BulletConstraintXNA : BulletConstraint
} }
public void RecordGhostCollisions(PairCachingGhostObject obj) public void RecordGhostCollisions(PairCachingGhostObject obj)
{ {
/* IOverlappingPairCache cache = obj.GetOverlappingPairCache();
*void BulletSim::RecordGhostCollisions(btPairCachingGhostObject* obj) ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray();
{
btManifoldArray manifoldArray; DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world;
btBroadphasePairArray& pairArray = obj->getOverlappingPairCache()->getOverlappingPairArray(); PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
int numPairs = pairArray.size(); BroadphasePair collisionPair;
PersistentManifold contactManifold;
// For all the pairs of sets of contact points CollisionObject objA;
for (int i=0; i < numPairs; i++) CollisionObject objB;
{
if (m_collisionsThisFrame >= m_maxCollisionsPerFrame)
break;
manifoldArray.clear(); ManifoldPoint pt;
const btBroadphasePair& pair = pairArray[i];
// The real representation is over in the world pair cache int numPairs = pairs.Count;
btBroadphasePair* collisionPair = m_worldData.dynamicsWorld->getPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
if (!collisionPair) for (int i = 0; i < numPairs; i++)
continue; {
manifoldArray.Clear();
if (LastCollisionDesc < UpdatedCollisions.Length)
break;
collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1);
if (collisionPair == null)
continue;
collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
for (int j = 0; j < manifoldArray.Count; j++)
{
contactManifold = manifoldArray[j];
int numContacts = contactManifold.GetNumContacts();
objA = contactManifold.GetBody0() as CollisionObject;
objB = contactManifold.GetBody1() as CollisionObject;
for (int p = 0; p < numContacts; p++)
{
pt = contactManifold.GetContactPoint(p);
if (pt.GetDistance() < 0.0f)
{
RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance());
break;
}
}
}
}
if (collisionPair->m_algorithm)
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
// The collision pair has sets of collision points (manifolds)
for (int j=0; j < manifoldArray.size(); j++)
{
btPersistentManifold* contactManifold = manifoldArray[j];
int numContacts = contactManifold->getNumContacts();
const btCollisionObject* objA = static_cast<const btCollisionObject*>(contactManifold->getBody0());
const btCollisionObject* objB = static_cast<const btCollisionObject*>(contactManifold->getBody1());
// TODO: this is a more thurough check than the regular collision code --
// here we find the penetrating contact in the manifold but for regular
// collisions we assume the first point in the manifold is good enough.
// Decide of this extra checking is required or if first point is good enough.
for (int p=0; p < numContacts; p++)
{
const btManifoldPoint& pt = contactManifold->getContactPoint(p);
// If a penetrating contact, this is a hit
if (pt.getDistance()<0.f)
{
const btVector3& contactPoint = pt.getPositionWorldOnA();
const btVector3& normalOnA = -pt.m_normalWorldOnB;
RecordCollision(objA, objB, contactPoint, normalOnA, pt.getDistance());
// Only one contact point for each set of colliding objects
break;
}
}
}
}
}
*/
} }
private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
{ {
@ -1934,7 +1964,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
contactNormal = -contactNormal; contactNormal = -contactNormal;
} }
ulong collisionID = ((ulong) idA << 32) | idB; //ulong collisionID = ((ulong) idA << 32) | idB;
CollisionDesc cDesc = new CollisionDesc() CollisionDesc cDesc = new CollisionDesc()
{ {