Merge branch 'master' into careminster
Melanie
commit
9f2d232c71
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@ -78,8 +78,8 @@ public sealed class BSCharacter : BSPhysObject
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private float _PIDHoverTao;
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public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
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: base(parent_scene, localID, avName, "BSCharacter")
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{
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base.BaseInitialize(parent_scene, localID, avName, "BSCharacter");
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_physicsActorType = (int)ActorTypes.Agent;
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_position = pos;
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_size = size;
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@ -131,6 +131,10 @@ public sealed class BSCharacter : BSPhysObject
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// Set the velocity and compute the proper friction
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ForceVelocity = _velocity;
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// This will enable or disable the flying buoyancy of the avatar.
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// Needs to be reset especially when an avatar is recreated after crossing a region boundry.
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Flying = _flying;
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BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution);
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BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
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BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
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@ -615,7 +619,7 @@ public sealed class BSCharacter : BSPhysObject
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newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
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// From the total height, remove the capsule half spheres that are at each end
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newScale.Z = size.Z- (newScale.X + newScale.Y);
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newScale.Z = size.Z - (newScale.X + newScale.Y);
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Scale = newScale;
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}
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@ -47,7 +47,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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*/
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public abstract class BSPhysObject : PhysicsActor
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{
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protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
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protected BSPhysObject()
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{
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}
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protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
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{
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PhysicsScene = parentScene;
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LocalID = localID;
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@ -88,9 +88,9 @@ public sealed class BSPrim : BSPhysObject
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public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
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OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
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: base(parent_scene, localID, primName, "BSPrim")
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{
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// m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
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base.BaseInitialize(parent_scene, localID, primName, "BSPrim");
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_physicsActorType = (int)ActorTypes.Prim;
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_position = pos;
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_size = size;
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@ -683,7 +683,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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#region Taints
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// Calls to the PhysicsActors can't directly call into the physics engine
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// because it might be busy. We delay changes to a known time.
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// because it might be busy. We delay changes to a known time.
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// We rely on C#'s closure to save and restore the context for the delegate.
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public void TaintedObject(String ident, TaintCallback callback)
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{
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@ -1,4 +1,4 @@
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/*
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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@ -40,7 +40,7 @@ public abstract class BSShape
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public int referenceCount { get; set; }
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public DateTime lastReferenced { get; set; }
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protected void Initialize()
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public BSShape()
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{
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ptr = IntPtr.Zero;
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type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
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@ -109,9 +109,8 @@ public abstract class BSShape
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public class BSShapeNull : BSShape
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{
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public BSShapeNull()
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public BSShapeNull() : base()
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{
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base.Initialize();
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}
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public static BSShape GetReference() { return new BSShapeNull(); }
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public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
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@ -120,9 +119,8 @@ public class BSShapeNull : BSShape
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public class BSShapeNative : BSShape
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{
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private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
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public BSShapeNative()
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public BSShapeNative() : base()
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{
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base.Initialize();
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}
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public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
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ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey)
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@ -176,9 +174,8 @@ public class BSShapeMesh : BSShape
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private static string LogHeader = "[BULLETSIM SHAPE MESH]";
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private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
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public BSShapeMesh()
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public BSShapeMesh() : base()
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{
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base.Initialize();
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}
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public static BSShape GetReference() { return new BSShapeNull(); }
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public override void Dereference(BSScene physicsScene) { }
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@ -189,9 +186,8 @@ public class BSShapeHull : BSShape
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private static string LogHeader = "[BULLETSIM SHAPE HULL]";
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private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
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public BSShapeHull()
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public BSShapeHull() : base()
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{
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base.Initialize();
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}
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public static BSShape GetReference() { return new BSShapeNull(); }
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public override void Dereference(BSScene physicsScene) { }
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@ -200,9 +196,8 @@ public class BSShapeHull : BSShape
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public class BSShapeCompound : BSShape
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{
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private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
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public BSShapeCompound()
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public BSShapeCompound() : base()
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{
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base.Initialize();
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}
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public static BSShape GetReference(BSPhysObject prim)
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{
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@ -429,140 +429,6 @@ static class BulletSimAPI {
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[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
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public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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[return: MarshalAs(UnmanagedType.LPStr)]
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public static extern string GetVersion();
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/* Remove the linkage to the old api methods
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
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int maxCollisions, IntPtr collisionArray,
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int maxUpdates, IntPtr updateArray,
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DebugLogCallback logRoutine);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void Shutdown(uint worldID);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool UpdateParameter(uint worldID, uint localID,
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[MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
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// ===============================================================================
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
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out int updatedEntityCount,
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out IntPtr updatedEntitiesPtr,
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out int collidersCount,
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out IntPtr collidersPtr);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
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int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
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);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
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int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
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int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
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);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CreateObject(uint worldID, ShapeData shapeData);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Quaternion GetObjectOrientation(uint WorldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
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// Set the current force acting on the object
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool HasObject(uint worldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyObject(uint worldID, uint id);
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// ===============================================================================
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
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// ===============================================================================
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void DumpBulletStatistics();
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*/
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// Log a debug message
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetDebugLogCallback(DebugLogCallback callback);
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// ===============================================================================
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// ===============================================================================
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// ===============================================================================
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// A new version of the API that enables moving all the logic out of the C++ code and into
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// the C# code. This will make modifications easier for the next person.
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// This interface passes the actual pointers to the objects in the unmanaged
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// address space. All the management (calls for creation/destruction/lookup)
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// is done in the C# code.
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// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
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// and the old code is removed.
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// Functions use while converting from API1 to API2. Can be removed when totally converted.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GetSimHandle2(uint worldID);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
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// ===============================================================================
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// Initialization and simulation
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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