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.

OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs

@@ -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);
 }
 
-
 // =====================================================================================
 // =====================================================================================
 // =====================================================================================

OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs

@@ -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);
 

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -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
         {

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -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;
         }
 

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -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);

OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs

@@ -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, 
+        m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID, 
-                                new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,
+                                new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,
                                 m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin);