BulletSim: remove the unused body management code from BSPrim. There is no going back now.
Robert Adams
parent
f82b903dee
commit
5781d4d52d
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@ -27,8 +27,6 @@
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// Uncomment this it enable code to do all shape an body memory management
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// Uncomment this it enable code to do all shape an body memory management
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// in the C# code.
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// in the C# code.
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#define CSHARP_BODY_MANAGEMENT
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using System;
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using System;
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using System.Reflection;
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using System.Reflection;
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using System.Collections.Generic;
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using System.Collections.Generic;
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@ -474,14 +472,8 @@ public sealed class BSPrim : BSPhysObject
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// Called at taint-time!!
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// Called at taint-time!!
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private void SetObjectDynamic(bool forceRebuild)
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private void SetObjectDynamic(bool forceRebuild)
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{
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{
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#if CSHARP_BODY_MANAGEMENT
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// Recreate the physical object if necessary
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// Recreate the physical object if necessary
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CreateGeomAndObject(forceRebuild);
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CreateGeomAndObject(forceRebuild);
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#else
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// If it's becoming dynamic, it will need hullness
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VerifyCorrectPhysicalShape();
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UpdatePhysicalParameters();
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#endif // CSHARP_BODY_MANAGEMENT
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}
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}
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// Convert the simulator's physical properties into settings on BulletSim objects.
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// Convert the simulator's physical properties into settings on BulletSim objects.
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@ -498,11 +490,6 @@ public sealed class BSPrim : BSPhysObject
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// This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
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// This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
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BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
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BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
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#if !CSHARP_BODY_MANAGEMENT
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// Make solid or not (do things bounce off or pass through this object)
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// This is done first because it can change the collisionObject type.
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MakeSolid(IsSolid);
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#endif // !CSHARP_BODY_MANAGEMENT
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// Set up the object physicalness (does gravity and collisions move this object)
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// Set up the object physicalness (does gravity and collisions move this object)
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MakeDynamic(IsStatic);
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MakeDynamic(IsStatic);
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@ -513,10 +500,8 @@ public sealed class BSPrim : BSPhysObject
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// Arrange for collision events if the simulator wants them
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// Arrange for collision events if the simulator wants them
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EnableCollisions(SubscribedEvents());
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EnableCollisions(SubscribedEvents());
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#if CSHARP_BODY_MANAGEMENT
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// Make solid or not (do things bounce off or pass through this object).
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// Make solid or not (do things bounce off or pass through this object).
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MakeSolid(IsSolid);
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MakeSolid(IsSolid);
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#endif // CSHARP_BODY_MANAGEMENT
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BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
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BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
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@ -609,7 +594,6 @@ public sealed class BSPrim : BSPhysObject
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// the functions after this one set up the state of a possibly newly created collision body.
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// the functions after this one set up the state of a possibly newly created collision body.
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private void MakeSolid(bool makeSolid)
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private void MakeSolid(bool makeSolid)
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{
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{
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#if CSHARP_BODY_MANAGEMENT
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CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
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CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
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if (makeSolid)
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if (makeSolid)
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{
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{
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@ -630,49 +614,6 @@ public sealed class BSPrim : BSPhysObject
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BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
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BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
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BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
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BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
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}
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}
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#else
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// If doing the body management in C#, all this logic is in CSShapeCollection.CreateObject().
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CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
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if (makeSolid)
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{
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if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
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{
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// Solid things are made out of rigid bodies. Remove this old body from the world
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// and use this shape in a new rigid body.
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BulletBody oldBody = BSBody;
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// Zero out the pointer to the shape in the old body so the shape will not get freed
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BSShape.Ptr = BulletSimAPI.GetCollisionShape2(oldBody.Ptr);
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BulletSimAPI.SetCollisionShape2(PhysicsScene.World.Ptr, oldBody.Ptr, IntPtr.Zero);
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// Get rid of the old body and remove it from BulletSim's object list
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BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
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// Create the new body with the shape
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BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
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CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
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DetailLog("{0},BSPrim.MakeSolid:rigidBody,body={1},shape={2}", LocalID, BSBody, BSShape);
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}
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}
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else
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{
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if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
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{
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// Non-solid things are made out of ghost objects. Remove this old body from the world
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// and use this shape in a new rigid body.
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BulletBody oldBody = BSBody;
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// Zero out the pointer to the shape in the old body so the shape will not get freed
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BSShape.Ptr = BulletSimAPI.GetCollisionShape2(oldBody.Ptr);
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BulletSimAPI.SetCollisionShape2(PhysicsScene.World.Ptr, oldBody.Ptr, IntPtr.Zero);
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// Get rid of the old body and remove it from BulletSim's object list
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BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
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BSBody = new BulletBody(LocalID,
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BulletSimAPI.CreateGhostFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
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CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
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DetailLog("{0},BSPrim.MakeGhostBody,body={1},shape={2}", LocalID, BSBody, BSShape);
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}
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}
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#endif
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}
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}
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// Turn on or off the flag controlling whether collision events are returned to the simulator.
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// Turn on or off the flag controlling whether collision events are returned to the simulator.
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@ -1139,300 +1080,6 @@ public sealed class BSPrim : BSPhysObject
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}// end CalculateMass
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}// end CalculateMass
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#endregion Mass Calculation
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#endregion Mass Calculation
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#if !CSHARP_BODY_MANAGEMENT
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// Create the geometry information in Bullet for later use.
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// The objects needs a hull if it's physical otherwise a mesh is enough.
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// No locking here because this is done when we know physics is not simulating.
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// if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
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// Returns 'true' if the geometry was rebuilt.
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// Called at taint-time!
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private bool CreateGeom(bool forceRebuild)
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{
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bool ret = false;
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bool haveShape = false;
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// If the prim attributes are simple, this could be a simple Bullet native shape
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if (
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// if the basic shape is a cube or a sphere...
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((_pbs.ProfileShape == ProfileShape.Square && _pbs.PathCurve == (byte)Extrusion.Straight)
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|| (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
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/* && _pbs.Scale.X == _pbs.Scale.Y && _pbs.Scale.Y == _pbs.Scale.Z */ ))
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// ... and we are not doing sculpty meshes...
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&& (_pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
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// ... or this is a 'simple' shape...
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|| (_pbs.ProfileBegin == 0 && _pbs.ProfileEnd == 0
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&& _pbs.ProfileHollow == 0
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&& _pbs.PathTwist == 0 && _pbs.PathTwistBegin == 0
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&& _pbs.PathBegin == 0 && _pbs.PathEnd == 0
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&& _pbs.PathTaperX == 0 && _pbs.PathTaperY == 0
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&& _pbs.PathScaleX == 100 && _pbs.PathScaleY == 100
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&& _pbs.PathShearX == 0 && _pbs.PathShearY == 0) )
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// ... then this might be representable as a native Bullet collision shape
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{
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if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
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{
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haveShape = true;
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if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
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{
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DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
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_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
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_meshKey = (ulong)ShapeData.FixedShapeKey.KEY_SPHERE;
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// Bullet native objects are scaled by the Bullet engine so pass the size in
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_scale = _size;
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// TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
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ret = true;
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}
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}
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else
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{
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// m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
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haveShape = true;
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if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
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{
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DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
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_shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
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_meshKey = (ulong)ShapeData.FixedShapeKey.KEY_BOX;
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_scale = _size;
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// TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
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ret = true;
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}
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}
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}
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// If a simple shape isn't happening, create a mesh and possibly a hull
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if (!haveShape)
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{
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if (IsPhysical)
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{
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if (forceRebuild || _hullKey == 0)
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{
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// physical objects require a hull for interaction.
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// This also creates the mesh if it doesn't already exist
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ret = CreateGeomHull();
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}
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}
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else
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{
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if (forceRebuild || _meshKey == 0)
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{
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// Static (non-physical) objects only need a mesh for bumping into
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ret = CreateGeomMesh();
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}
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}
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}
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return ret;
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}
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// No locking here because this is done when we know physics is not simulating
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// Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
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// Called at taint-time!
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private bool CreateGeomMesh()
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{
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// level of detail based on size and type of the object
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float lod = PhysicsScene.MeshLOD;
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if (_pbs.SculptEntry)
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lod = PhysicsScene.SculptLOD;
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float maxAxis = Math.Max(_size.X, Math.Max(_size.Y, _size.Z));
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if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
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lod = PhysicsScene.MeshMegaPrimLOD;
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ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod);
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// m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, LocalID, _meshKey, newMeshKey);
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// if this new shape is the same as last time, don't recreate the mesh
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if (_meshKey == newMeshKey) return false;
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DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
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// Since we're recreating new, get rid of any previously generated shape
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if (_meshKey != 0)
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{
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// m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, LocalID, _meshKey);
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DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
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BulletSimAPI.DestroyMesh(PhysicsScene.WorldID, _meshKey);
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_mesh = null;
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_meshKey = 0;
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}
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_meshKey = newMeshKey;
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// always pass false for physicalness as this creates some sort of bounding box which we don't need
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_mesh = PhysicsScene.mesher.CreateMesh(PhysObjectName, _pbs, _size, lod, false);
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int[] indices = _mesh.getIndexListAsInt();
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List<OMV.Vector3> vertices = _mesh.getVertexList();
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float[] verticesAsFloats = new float[vertices.Count * 3];
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int vi = 0;
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foreach (OMV.Vector3 vv in vertices)
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{
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verticesAsFloats[vi++] = vv.X;
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verticesAsFloats[vi++] = vv.Y;
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verticesAsFloats[vi++] = vv.Z;
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}
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// m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
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// LogHeader, LocalID, _meshKey, indices.Length, vertices.Count);
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BulletSimAPI.CreateMesh(PhysicsScene.WorldID, _meshKey, indices.GetLength(0), indices,
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vertices.Count, verticesAsFloats);
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_shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
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// meshes are already scaled by the meshmerizer
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_scale = new OMV.Vector3(1f, 1f, 1f);
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return true;
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}
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// No locking here because this is done when we know physics is not simulating
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// Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
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private bool CreateGeomHull()
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{
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float lod = _pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD;
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ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
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// m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, LocalID, _hullKey, newHullKey);
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// if the hull hasn't changed, don't rebuild it
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if (newHullKey == _hullKey) return false;
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DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
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// Since we're recreating new, get rid of any previously generated shape
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if (_hullKey != 0)
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{
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// m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
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DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
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BulletSimAPI.DestroyHull(PhysicsScene.WorldID, _hullKey);
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_hullKey = 0;
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}
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_hullKey = newHullKey;
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// Make sure the underlying mesh exists and is correct
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CreateGeomMesh();
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int[] indices = _mesh.getIndexListAsInt();
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List<OMV.Vector3> vertices = _mesh.getVertexList();
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//format conversion from IMesh format to DecompDesc format
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List<int> convIndices = new List<int>();
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List<float3> convVertices = new List<float3>();
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for (int ii = 0; ii < indices.GetLength(0); ii++)
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{
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convIndices.Add(indices[ii]);
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}
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foreach (OMV.Vector3 vv in vertices)
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{
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convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
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}
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// setup and do convex hull conversion
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_hulls = new List<ConvexResult>();
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DecompDesc dcomp = new DecompDesc();
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dcomp.mIndices = convIndices;
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dcomp.mVertices = convVertices;
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ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
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// create the hull into the _hulls variable
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convexBuilder.process(dcomp);
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// Convert the vertices and indices for passing to unmanaged.
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// The hull information is passed as a large floating point array.
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// The format is:
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// convHulls[0] = number of hulls
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// convHulls[1] = number of vertices in first hull
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// convHulls[2] = hull centroid X coordinate
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// convHulls[3] = hull centroid Y coordinate
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// convHulls[4] = hull centroid Z coordinate
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// convHulls[5] = first hull vertex X
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// convHulls[6] = first hull vertex Y
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// convHulls[7] = first hull vertex Z
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// convHulls[8] = second hull vertex X
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// ...
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// convHulls[n] = number of vertices in second hull
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// convHulls[n+1] = second hull centroid X coordinate
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// ...
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||||||
//
|
|
||||||
// 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 = _hulls.Count;
|
|
||||||
int totalVertices = 1; // include one for the count of the hulls
|
|
||||||
foreach (ConvexResult cr in _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 _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 definition in Bullet
|
|
||||||
// m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, LocalID, _hullKey, hullCount);
|
|
||||||
BulletSimAPI.CreateHull(PhysicsScene.WorldID, _hullKey, hullCount, convHulls);
|
|
||||||
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
|
|
||||||
// meshes are already scaled by the meshmerizer
|
|
||||||
_scale = new OMV.Vector3(1f, 1f, 1f);
|
|
||||||
DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Callback from convex hull creater with a newly created hull.
|
|
||||||
// Just add it to the collection of hulls for this shape.
|
|
||||||
private void HullReturn(ConvexResult result)
|
|
||||||
{
|
|
||||||
_hulls.Add(result);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
private void VerifyCorrectPhysicalShape()
|
|
||||||
{
|
|
||||||
if (!IsStatic)
|
|
||||||
{
|
|
||||||
// if not static, it will need a hull to efficiently collide with things
|
|
||||||
if (_hullKey == 0)
|
|
||||||
{
|
|
||||||
CreateGeomAndObject(false);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Create an object in Bullet if it has not already been created
|
|
||||||
// No locking here because this is done when the physics engine is not simulating
|
|
||||||
// Returns 'true' if an object was actually created.
|
|
||||||
private bool CreateObject()
|
|
||||||
{
|
|
||||||
// this routine is called when objects are rebuilt.
|
|
||||||
|
|
||||||
// the mesh or hull must have already been created in Bullet
|
|
||||||
ShapeData shape;
|
|
||||||
FillShapeInfo(out shape);
|
|
||||||
// m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, LocalID, shape.Type);
|
|
||||||
bool ret = BulletSimAPI.CreateObject(PhysicsScene.WorldID, shape);
|
|
||||||
|
|
||||||
return ret;
|
|
||||||
}
|
|
||||||
#endif // !CSHARP_BODY_MANAGEMENT
|
|
||||||
|
|
||||||
// Copy prim's info into the BulletSim shape description structure
|
// Copy prim's info into the BulletSim shape description structure
|
||||||
public void FillShapeInfo(out ShapeData shape)
|
public void FillShapeInfo(out ShapeData shape)
|
||||||
{
|
{
|
||||||
|
|
@ -1458,7 +1105,6 @@ public sealed class BSPrim : BSPhysObject
|
||||||
// Called at taint-time!!!
|
// Called at taint-time!!!
|
||||||
private void CreateGeomAndObject(bool forceRebuild)
|
private void CreateGeomAndObject(bool forceRebuild)
|
||||||
{
|
{
|
||||||
#if CSHARP_BODY_MANAGEMENT
|
|
||||||
ShapeData shapeData;
|
ShapeData shapeData;
|
||||||
FillShapeInfo(out shapeData);
|
FillShapeInfo(out shapeData);
|
||||||
|
|
||||||
|
|
@ -1475,26 +1121,6 @@ public sealed class BSPrim : BSPhysObject
|
||||||
|
|
||||||
// Make sure the properties are set on the new object
|
// Make sure the properties are set on the new object
|
||||||
UpdatePhysicalParameters();
|
UpdatePhysicalParameters();
|
||||||
#else
|
|
||||||
// m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, LocalID, forceRebuild);
|
|
||||||
// Create the geometry that will make up the object
|
|
||||||
if (CreateGeom(forceRebuild))
|
|
||||||
{
|
|
||||||
// Create the object and place it into the world
|
|
||||||
CreateObject();
|
|
||||||
|
|
||||||
// the CreateObject() may have recreated the rigid body. Make sure we have the latest address.
|
|
||||||
BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID));
|
|
||||||
BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr), _shapeType);
|
|
||||||
BSShape.shapeKey = _meshKey;
|
|
||||||
DetailLog("{0},BSPrim.CreateGeomAndObject,body={1},shape={2}", LocalID, BSBody, BSShape);
|
|
||||||
|
|
||||||
// Make sure the properties are set on the new object
|
|
||||||
UpdatePhysicalParameters();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
#endif // CSHARP_BODY_MANAGEMENT
|
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue