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BulletSim: move over and port the interface for BulletXNA. 

Copied BulletSNPlugin.BulletSimAPI to a new
BulletSPlugin.BSAPIXNA.cs and then modifyed the latter to
comply with the BSAPITemplate definition. Not totally debugged
but the code is all there for an INI variable to select either
unmanaged C++ Bullet or the C# version of Bullet.
0.7.5-pf-bulletsim
Robert Adams 2013-01-01 16:49:38 -08:00
parent 0662d109c2
commit 9d840fd2ee
7 changed files with 628 additions and 320 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
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@ -339,10 +339,10 @@ public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
}
public override int GetBodyType(BulletBody obj)
public override CollisionObjectTypes GetBodyType(BulletBody obj)
{
BulletBodyUnman bodyu = obj as BulletBodyUnman;
return BSAPICPP.GetBodyType2(bodyu.ptr);
return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr);
}
public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
@ -522,9 +522,22 @@ public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
// btDynamicsWorld entries
public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
{
// Bullet resets several variables when an object is added to the world.
// Gravity is reset to world default depending on the static/dynamic
// type. Of course, the collision flags in the broadphase proxy are initialized to default.
BulletWorldUnman worldu = world as BulletWorldUnman;
BulletBodyUnman bodyu = obj as BulletBodyUnman;
return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
if (ret)
{
BSAPICPP.SetGravity2(bodyu.ptr, origGrav);
obj.ApplyCollisionMask(world.physicsScene);
}
return ret;
}
public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
@ -1061,7 +1074,7 @@ public override Vector3 GetAngularFactor(BulletBody obj)
return BSAPICPP.GetAngularFactor2(bodyu.ptr);
}
public override bool IsInWorld(BulletBody obj)
public override bool IsInWorld(BulletWorld world, BulletBody obj)
{
BulletBodyUnman bodyu = obj as BulletBodyUnman;
return BSAPICPP.IsInWorld2(bodyu.ptr);
@ -1239,7 +1252,6 @@ public override void DumpPhysicsStatistics(BulletWorld world)
BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
}
// =====================================================================================
// =====================================================================================
// =====================================================================================

899
OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
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File diff suppressed because it is too large Load Diff

6
OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
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@ -346,10 +346,9 @@ public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id);
public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
public abstract int GetBodyType(BulletBody obj);
public abstract CollisionObjectTypes GetBodyType(BulletBody obj);
public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
@ -416,6 +415,7 @@ public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
// =====================================================================================
// btDynamicsWorld entries
// public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot);
public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
@ -597,7 +597,7 @@ public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor);
public abstract Vector3 GetAngularFactor(BulletBody obj);
public abstract bool IsInWorld(BulletBody obj);
public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);

11
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -898,17 +898,6 @@ public sealed class BSPrim : BSPhysObject
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
// TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
// Replace this when the new AddObjectToWorld function is complete.
PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity());
// Collision filter can be set only when the object is in the world
if (!PhysBody.ApplyCollisionMask(PhysicsScene))
{
m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
}
}
else
{

2
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -309,7 +309,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
ret = new BSAPIUnman(engineName, this);
break;
case "bulletxna":
// ret = new BSAPIXNA(engineName, this);
ret = new BSAPIXNA(engineName, this);
break;
}

4
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
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@ -141,7 +141,7 @@ public sealed class BSShapeCollection : IDisposable
if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
{
if (!PhysicsScene.PE.IsInWorld(body))
if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
{
PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
@ -166,7 +166,7 @@ public sealed class BSShapeCollection : IDisposable
// If the caller needs to know the old body is going away, pass the event up.
if (bodyCallback != null) bodyCallback(body);
if (PhysicsScene.PE.IsInWorld(body))
if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
{
PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);

4
OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
View File

@ -92,8 +92,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
private void BuildHeightmapTerrain()
{
// Create the terrain shape from the mapInfo
m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID,
new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,
m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID,
new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,
m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin);