Merge commit 'f95033812402aaf31a9f2f66c946165d2d79669f' into bigmerge
Conflicts: OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs prebuild.xmlavinationmerge
Melanie
commit
b9de3b7f5b
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@ -1,58 +0,0 @@
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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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|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions are met:
|
|
||||||
* * Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* * Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in the
|
|
||||||
* documentation and/or other materials provided with the distribution.
|
|
||||||
* * Neither the name of the OpenSimulator Project nor the
|
|
||||||
* names of its contributors may be used to endorse or promote products
|
|
||||||
* derived from this software without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
|
||||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
||||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
||||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
|
||||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
||||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
||||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
||||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
||||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
||||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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|
||||||
*/
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||||||
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||||||
using System.Reflection;
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||||||
using System.Runtime.InteropServices;
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||||||
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|
||||||
// Information about this assembly is defined by the following
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|
||||||
// attributes.
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||||||
//
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||||||
// change them to the information which is associated with the assembly
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||||||
// you compile.
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||||||
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||||||
[assembly : AssemblyTitle("BulletDotNETPlugin")]
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||||||
[assembly : AssemblyDescription("")]
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||||||
[assembly : AssemblyConfiguration("")]
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[assembly : AssemblyCompany("http://opensimulator.org")]
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||||||
[assembly : AssemblyProduct("OdePlugin")]
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||||||
[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
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|
||||||
[assembly : AssemblyTrademark("")]
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|
||||||
[assembly : AssemblyCulture("")]
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|
||||||
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|
||||||
// This sets the default COM visibility of types in the assembly to invisible.
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|
||||||
// If you need to expose a type to COM, use [ComVisible(true)] on that type.
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|
||||||
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||||||
[assembly : ComVisible(false)]
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||||||
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||||||
// The assembly version has following format :
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||||||
//
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|
||||||
// Major.Minor.Build.Revision
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||||||
//
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||||||
// You can specify all values by your own or you can build default build and revision
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|
||||||
// numbers with the '*' character (the default):
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||||||
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||||||
[assembly : AssemblyVersion("0.6.3.*")]
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File diff suppressed because it is too large
Load Diff
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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.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions are met:
|
|
||||||
* * Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* * Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in the
|
|
||||||
* documentation and/or other materials provided with the distribution.
|
|
||||||
* * Neither the name of the OpenSimulator Project nor the
|
|
||||||
* names of its contributors may be used to endorse or promote products
|
|
||||||
* derived from this software without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
|
||||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
||||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
||||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
|
||||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
||||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
||||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
||||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
||||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
||||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*/
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|
||||||
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||||||
using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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public class BulletDotNetPlugin : IPhysicsPlugin
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{
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private BulletDotNETScene m_scene;
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private const string m_pluginName = "BulletDotNETPlugin";
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#region IPhysicsPlugin Members
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public bool Init()
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{
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return true;
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||||||
}
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||||||
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||||||
public PhysicsScene GetScene(string sceneIdentifier)
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|
||||||
{
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if (m_scene == null)
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||||||
{
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||||||
m_scene = new BulletDotNETScene(sceneIdentifier);
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}
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return m_scene;
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}
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public string GetName()
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{
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return m_pluginName;
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}
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public void Dispose()
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{
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}
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#endregion
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}
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}
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@ -1,60 +0,0 @@
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||||||
/*
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|
||||||
* Copyright (c) Contributors, http://opensimulator.org/
|
|
||||||
* See CONTRIBUTORS.TXT for a full list of copyright holders.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions are met:
|
|
||||||
* * Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* * Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in the
|
|
||||||
* documentation and/or other materials provided with the distribution.
|
|
||||||
* * Neither the name of the OpenSimulator Project nor the
|
|
||||||
* names of its contributors may be used to endorse or promote products
|
|
||||||
* derived from this software without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
|
||||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
||||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
||||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
|
||||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
||||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
||||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
||||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
||||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
||||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*/
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|
||||||
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|
||||||
using System;
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|
||||||
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||||||
public enum StatusIndicators : int
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|
||||||
{
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Generic = 0,
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||||||
Start = 1,
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||||||
End = 2
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|
||||||
}
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||||||
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||||||
public struct sCollisionData
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|
||||||
{
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|
||||||
public uint ColliderLocalId;
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|
||||||
public uint CollidedWithLocalId;
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||||||
public int NumberOfCollisions;
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||||||
public int CollisionType;
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|
||||||
public int StatusIndicator;
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|
||||||
public int lastframe;
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|
||||||
}
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||||||
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||||||
[Flags]
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|
||||||
public enum CollisionCategories : int
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|
||||||
{
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||||||
Disabled = 0,
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||||||
Geom = 0x00000001,
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Body = 0x00000002,
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||||||
Space = 0x00000004,
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||||||
Character = 0x00000008,
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||||||
Land = 0x00000010,
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||||||
Water = 0x00000020,
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||||||
Wind = 0x00000040,
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||||||
Sensor = 0x00000080,
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||||||
Selected = 0x00000100
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}
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File diff suppressed because it is too large
Load Diff
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@ -1,776 +0,0 @@
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||||||
/*
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|
||||||
* Copyright (c) Contributors, http://opensimulator.org/
|
|
||||||
* See CONTRIBUTORS.TXT for a full list of copyright holders.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions are met:
|
|
||||||
* * Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* * Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in the
|
|
||||||
* documentation and/or other materials provided with the distribution.
|
|
||||||
* * Neither the name of the OpenSimulator Project nor the
|
|
||||||
* names of its contributors may be used to endorse or promote products
|
|
||||||
* derived from this software without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
|
||||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
||||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
||||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
|
||||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
||||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
||||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
||||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
||||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
||||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*/
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||||||
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||||||
using System;
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||||||
using System.Collections.Generic;
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||||||
using System.Reflection;
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||||||
using System.IO;
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||||||
using System.Diagnostics;
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|
||||||
using System.Threading;
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||||||
using log4net;
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|
||||||
using Nini.Config;
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||||||
using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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||||||
using OpenMetaverse;
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using BulletDotNET;
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namespace OpenSim.Region.Physics.BulletDotNETPlugin
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||||||
{
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||||||
public class BulletDotNETScene : PhysicsScene
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||||||
{
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||||||
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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||||||
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||||||
// private string m_sceneIdentifier = string.Empty;
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||||||
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||||||
private List<BulletDotNETCharacter> m_characters = new List<BulletDotNETCharacter>();
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||||||
private Dictionary<uint, BulletDotNETCharacter> m_charactersLocalID = new Dictionary<uint, BulletDotNETCharacter>();
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||||||
private List<BulletDotNETPrim> m_prims = new List<BulletDotNETPrim>();
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private Dictionary<uint, BulletDotNETPrim> m_primsLocalID = new Dictionary<uint, BulletDotNETPrim>();
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private List<BulletDotNETPrim> m_activePrims = new List<BulletDotNETPrim>();
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||||||
private List<PhysicsActor> m_taintedActors = new List<PhysicsActor>();
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|
||||||
private btDiscreteDynamicsWorld m_world;
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||||||
private btAxisSweep3 m_broadphase;
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|
||||||
private btCollisionConfiguration m_collisionConfiguration;
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|
||||||
private btConstraintSolver m_solver;
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||||||
private btCollisionDispatcher m_dispatcher;
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||||||
private btHeightfieldTerrainShape m_terrainShape;
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||||||
public btRigidBody TerrainBody;
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||||||
private btVector3 m_terrainPosition;
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|
||||||
private btVector3 m_gravity;
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||||||
public btMotionState m_terrainMotionState;
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|
||||||
public btTransform m_terrainTransform;
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|
||||||
public btVector3 VectorZero;
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|
||||||
public btQuaternion QuatIdentity;
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||||||
public btTransform TransZero;
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||||||
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|
||||||
public float geomDefaultDensity = 10.000006836f;
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|
||||||
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|
||||||
private float avPIDD = 65f;
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||||||
private float avPIDP = 21f;
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||||||
private float avCapRadius = 0.37f;
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||||||
private float avStandupTensor = 2000000f;
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||||||
private float avDensity = 80f;
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||||||
private float avHeightFudgeFactor = 0.52f;
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||||||
private float avMovementDivisorWalk = 1.8f;
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||||||
private float avMovementDivisorRun = 0.8f;
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||||||
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||||||
// private float minimumGroundFlightOffset = 3f;
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||||||
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|
||||||
public bool meshSculptedPrim = true;
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||||||
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||||||
public float meshSculptLOD = 32;
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||||||
public float MeshSculptphysicalLOD = 16;
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|
||||||
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|
||||||
public float bodyPIDD = 35f;
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|
||||||
public float bodyPIDG = 25;
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|
||||||
internal int geomCrossingFailuresBeforeOutofbounds = 4;
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|
||||||
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|
||||||
public float bodyMotorJointMaxforceTensor = 2;
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|
||||||
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|
||||||
public int bodyFramesAutoDisable = 20;
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||||||
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|
||||||
public float WorldTimeStep = 10f/60f;
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|
||||||
public const float WorldTimeComp = 1/60f;
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|
||||||
public float gravityz = -9.8f;
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|
||||||
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|
||||||
private float[] _origheightmap; // Used for Fly height. Kitto Flora
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|
||||||
private bool usingGImpactAlgorithm = false;
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|
||||||
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|
||||||
// private IConfigSource m_config;
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|
||||||
private readonly btVector3 worldAabbMin = new btVector3(-10f, -10f, 0);
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|
||||||
private readonly btVector3 worldAabbMax = new btVector3((int)Constants.RegionSize + 10f, (int)Constants.RegionSize + 10f, 9000);
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|
||||||
|
|
||||||
public IMesher mesher;
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|
||||||
private ContactAddedCallbackHandler m_CollisionInterface;
|
|
||||||
|
|
||||||
public BulletDotNETScene(string sceneIdentifier)
|
|
||||||
{
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|
||||||
// m_sceneIdentifier = sceneIdentifier;
|
|
||||||
VectorZero = new btVector3(0, 0, 0);
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|
||||||
QuatIdentity = new btQuaternion(0, 0, 0, 1);
|
|
||||||
TransZero = new btTransform(QuatIdentity, VectorZero);
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|
||||||
m_gravity = new btVector3(0, 0, gravityz);
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|
||||||
_origheightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void Initialise(IMesher meshmerizer, IConfigSource config)
|
|
||||||
{
|
|
||||||
mesher = meshmerizer;
|
|
||||||
// m_config = config;
|
|
||||||
/*
|
|
||||||
if (Environment.OSVersion.Platform == PlatformID.Unix)
|
|
||||||
{
|
|
||||||
m_log.Fatal("[BulletDotNET]: This configuration is not supported on *nix currently");
|
|
||||||
Thread.Sleep(5000);
|
|
||||||
Environment.Exit(0);
|
|
||||||
}
|
|
||||||
*/
|
|
||||||
m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
|
|
||||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
|
||||||
m_solver = new btSequentialImpulseConstraintSolver();
|
|
||||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
|
||||||
m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
|
|
||||||
m_world.setGravity(m_gravity);
|
|
||||||
EnableCollisionInterface();
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
|
|
||||||
{
|
|
||||||
BulletDotNETCharacter chr = new BulletDotNETCharacter(avName, this, position, size, avPIDD, avPIDP,
|
|
||||||
avCapRadius, avStandupTensor, avDensity,
|
|
||||||
avHeightFudgeFactor, avMovementDivisorWalk,
|
|
||||||
avMovementDivisorRun);
|
|
||||||
try
|
|
||||||
{
|
|
||||||
m_characters.Add(chr);
|
|
||||||
m_charactersLocalID.Add(chr.m_localID, chr);
|
|
||||||
}
|
|
||||||
catch
|
|
||||||
{
|
|
||||||
// noop if it's already there
|
|
||||||
m_log.Debug("[PHYSICS] BulletDotNet: adding duplicate avatar localID");
|
|
||||||
}
|
|
||||||
AddPhysicsActorTaint(chr);
|
|
||||||
return chr;
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void RemoveAvatar(PhysicsActor actor)
|
|
||||||
{
|
|
||||||
BulletDotNETCharacter chr = (BulletDotNETCharacter) actor;
|
|
||||||
|
|
||||||
m_charactersLocalID.Remove(chr.m_localID);
|
|
||||||
m_characters.Remove(chr);
|
|
||||||
m_world.removeRigidBody(chr.Body);
|
|
||||||
m_world.removeCollisionObject(chr.Body);
|
|
||||||
|
|
||||||
chr.Remove();
|
|
||||||
AddPhysicsActorTaint(chr);
|
|
||||||
//chr = null;
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void RemovePrim(PhysicsActor prim)
|
|
||||||
{
|
|
||||||
if (prim is BulletDotNETPrim)
|
|
||||||
{
|
|
||||||
|
|
||||||
BulletDotNETPrim p = (BulletDotNETPrim)prim;
|
|
||||||
|
|
||||||
p.setPrimForRemoval();
|
|
||||||
AddPhysicsActorTaint(prim);
|
|
||||||
//RemovePrimThreadLocked(p);
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
|
|
||||||
IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
|
|
||||||
{
|
|
||||||
Vector3 pos = position;
|
|
||||||
//pos.X = position.X;
|
|
||||||
//pos.Y = position.Y;
|
|
||||||
//pos.Z = position.Z;
|
|
||||||
Vector3 siz = Vector3.Zero;
|
|
||||||
siz.X = size.X;
|
|
||||||
siz.Y = size.Y;
|
|
||||||
siz.Z = size.Z;
|
|
||||||
Quaternion rot = rotation;
|
|
||||||
|
|
||||||
BulletDotNETPrim newPrim;
|
|
||||||
|
|
||||||
newPrim = new BulletDotNETPrim(name, this, pos, siz, rot, mesh, pbs, isphysical);
|
|
||||||
|
|
||||||
//lock (m_prims)
|
|
||||||
// m_prims.Add(newPrim);
|
|
||||||
|
|
||||||
|
|
||||||
return newPrim;
|
|
||||||
}
|
|
||||||
|
|
||||||
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
|
|
||||||
{
|
|
||||||
PhysicsActor result;
|
|
||||||
IMesh mesh = null;
|
|
||||||
|
|
||||||
//switch (pbs.ProfileShape)
|
|
||||||
//{
|
|
||||||
// case ProfileShape.Square:
|
|
||||||
// //support simple box & hollow box now; later, more shapes
|
|
||||||
// if (needsMeshing(pbs))
|
|
||||||
// {
|
|
||||||
// mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
|
|
||||||
// }
|
|
||||||
|
|
||||||
// break;
|
|
||||||
//}
|
|
||||||
|
|
||||||
if (needsMeshing(pbs))
|
|
||||||
mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
|
|
||||||
|
|
||||||
result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
|
|
||||||
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void AddPhysicsActorTaint(PhysicsActor prim)
|
|
||||||
{
|
|
||||||
lock (m_taintedActors)
|
|
||||||
{
|
|
||||||
if (!m_taintedActors.Contains(prim))
|
|
||||||
{
|
|
||||||
m_taintedActors.Add(prim);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
internal void SetUsingGImpact()
|
|
||||||
{
|
|
||||||
if (!usingGImpactAlgorithm)
|
|
||||||
btGImpactCollisionAlgorithm.registerAlgorithm(m_dispatcher);
|
|
||||||
usingGImpactAlgorithm = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
public override float Simulate(float timeStep)
|
|
||||||
{
|
|
||||||
|
|
||||||
lock (m_taintedActors)
|
|
||||||
{
|
|
||||||
foreach (PhysicsActor act in m_taintedActors)
|
|
||||||
{
|
|
||||||
if (act is BulletDotNETCharacter)
|
|
||||||
((BulletDotNETCharacter) act).ProcessTaints(timeStep);
|
|
||||||
if (act is BulletDotNETPrim)
|
|
||||||
((BulletDotNETPrim)act).ProcessTaints(timeStep);
|
|
||||||
}
|
|
||||||
m_taintedActors.Clear();
|
|
||||||
}
|
|
||||||
|
|
||||||
lock (m_characters)
|
|
||||||
{
|
|
||||||
foreach (BulletDotNETCharacter chr in m_characters)
|
|
||||||
{
|
|
||||||
chr.Move(timeStep);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
lock (m_prims)
|
|
||||||
{
|
|
||||||
foreach (BulletDotNETPrim prim in m_prims)
|
|
||||||
{
|
|
||||||
if (prim != null)
|
|
||||||
prim.Move(timeStep);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
float steps = m_world.stepSimulation(timeStep, 10, WorldTimeComp);
|
|
||||||
|
|
||||||
foreach (BulletDotNETCharacter chr in m_characters)
|
|
||||||
{
|
|
||||||
chr.UpdatePositionAndVelocity();
|
|
||||||
}
|
|
||||||
|
|
||||||
foreach (BulletDotNETPrim prm in m_activePrims)
|
|
||||||
{
|
|
||||||
/*
|
|
||||||
if (prm != null)
|
|
||||||
if (prm.Body != null)
|
|
||||||
*/
|
|
||||||
prm.UpdatePositionAndVelocity();
|
|
||||||
}
|
|
||||||
if (m_CollisionInterface != null)
|
|
||||||
{
|
|
||||||
List<BulletDotNETPrim> primsWithCollisions = new List<BulletDotNETPrim>();
|
|
||||||
List<BulletDotNETCharacter> charactersWithCollisions = new List<BulletDotNETCharacter>();
|
|
||||||
|
|
||||||
// get the collisions that happened this tick
|
|
||||||
List<BulletDotNET.ContactAddedCallbackHandler.ContactInfo> collisions = m_CollisionInterface.GetContactList();
|
|
||||||
// passed back the localID of the prim so we can associate the prim
|
|
||||||
foreach (BulletDotNET.ContactAddedCallbackHandler.ContactInfo ci in collisions)
|
|
||||||
{
|
|
||||||
// ContactPoint = { contactPoint, contactNormal, penetrationDepth }
|
|
||||||
ContactPoint contact = new ContactPoint(new Vector3(ci.pX, ci.pY, ci.pZ),
|
|
||||||
new Vector3(ci.nX, ci.nY, ci.nZ), ci.depth);
|
|
||||||
|
|
||||||
ProcessContact(ci.contact, ci.contactWith, contact, ref primsWithCollisions, ref charactersWithCollisions);
|
|
||||||
ProcessContact(ci.contactWith, ci.contact, contact, ref primsWithCollisions, ref charactersWithCollisions);
|
|
||||||
|
|
||||||
}
|
|
||||||
m_CollisionInterface.Clear();
|
|
||||||
// for those prims and characters that had collisions cause collision events
|
|
||||||
foreach (BulletDotNETPrim bdnp in primsWithCollisions)
|
|
||||||
{
|
|
||||||
bdnp.SendCollisions();
|
|
||||||
}
|
|
||||||
foreach (BulletDotNETCharacter bdnc in charactersWithCollisions)
|
|
||||||
{
|
|
||||||
bdnc.SendCollisions();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return steps;
|
|
||||||
}
|
|
||||||
|
|
||||||
private void ProcessContact(uint cont, uint contWith, ContactPoint contact,
|
|
||||||
ref List<BulletDotNETPrim> primsWithCollisions,
|
|
||||||
ref List<BulletDotNETCharacter> charactersWithCollisions)
|
|
||||||
{
|
|
||||||
BulletDotNETPrim bdnp;
|
|
||||||
// collisions with a normal prim?
|
|
||||||
if (m_primsLocalID.TryGetValue(cont, out bdnp))
|
|
||||||
{
|
|
||||||
// Added collision event to the prim. This creates a pile of events
|
|
||||||
// that will be sent to any subscribed listeners.
|
|
||||||
bdnp.AddCollision(contWith, contact);
|
|
||||||
if (!primsWithCollisions.Contains(bdnp))
|
|
||||||
{
|
|
||||||
primsWithCollisions.Add(bdnp);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
BulletDotNETCharacter bdnc;
|
|
||||||
// if not a prim, maybe it's one of the characters
|
|
||||||
if (m_charactersLocalID.TryGetValue(cont, out bdnc))
|
|
||||||
{
|
|
||||||
bdnc.AddCollision(contWith, contact);
|
|
||||||
if (!charactersWithCollisions.Contains(bdnc))
|
|
||||||
{
|
|
||||||
charactersWithCollisions.Add(bdnc);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void GetResults()
|
|
||||||
{
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void SetTerrain(float[] heightMap)
|
|
||||||
{
|
|
||||||
if (m_terrainShape != null)
|
|
||||||
DeleteTerrain();
|
|
||||||
|
|
||||||
float hfmax = -9000;
|
|
||||||
float hfmin = 90000;
|
|
||||||
|
|
||||||
for (int i = 0; i <heightMap.Length;i++)
|
|
||||||
{
|
|
||||||
if (Single.IsNaN(heightMap[i]) || Single.IsInfinity(heightMap[i]))
|
|
||||||
{
|
|
||||||
heightMap[i] = 0f;
|
|
||||||
}
|
|
||||||
|
|
||||||
hfmin = (heightMap[i] < hfmin) ? heightMap[i] : hfmin;
|
|
||||||
hfmax = (heightMap[i] > hfmax) ? heightMap[i] : hfmax;
|
|
||||||
}
|
|
||||||
// store this for later reference.
|
|
||||||
// Note, we're storing it after we check it for anomolies above
|
|
||||||
_origheightmap = heightMap;
|
|
||||||
|
|
||||||
hfmin = 0;
|
|
||||||
hfmax = 256;
|
|
||||||
|
|
||||||
m_terrainShape = new btHeightfieldTerrainShape((int)Constants.RegionSize, (int)Constants.RegionSize, heightMap,
|
|
||||||
1.0f, hfmin, hfmax, (int)btHeightfieldTerrainShape.UPAxis.Z,
|
|
||||||
(int)btHeightfieldTerrainShape.PHY_ScalarType.PHY_FLOAT, false);
|
|
||||||
float AabbCenterX = Constants.RegionSize/2f;
|
|
||||||
float AabbCenterY = Constants.RegionSize/2f;
|
|
||||||
|
|
||||||
float AabbCenterZ = 0;
|
|
||||||
float temphfmin, temphfmax;
|
|
||||||
|
|
||||||
temphfmin = hfmin;
|
|
||||||
temphfmax = hfmax;
|
|
||||||
|
|
||||||
if (temphfmin < 0)
|
|
||||||
{
|
|
||||||
temphfmax = 0 - temphfmin;
|
|
||||||
temphfmin = 0 - temphfmin;
|
|
||||||
}
|
|
||||||
else if (temphfmin > 0)
|
|
||||||
{
|
|
||||||
temphfmax = temphfmax + (0 - temphfmin);
|
|
||||||
//temphfmin = temphfmin + (0 - temphfmin);
|
|
||||||
}
|
|
||||||
AabbCenterZ = temphfmax/2f;
|
|
||||||
|
|
||||||
if (m_terrainPosition == null)
|
|
||||||
{
|
|
||||||
m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
try
|
|
||||||
{
|
|
||||||
m_terrainPosition.setValue(AabbCenterX, AabbCenterY, AabbCenterZ);
|
|
||||||
}
|
|
||||||
catch (ObjectDisposedException)
|
|
||||||
{
|
|
||||||
m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (m_terrainMotionState != null)
|
|
||||||
{
|
|
||||||
m_terrainMotionState.Dispose();
|
|
||||||
m_terrainMotionState = null;
|
|
||||||
}
|
|
||||||
m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition);
|
|
||||||
m_terrainMotionState = new btDefaultMotionState(m_terrainTransform);
|
|
||||||
TerrainBody = new btRigidBody(0, m_terrainMotionState, m_terrainShape);
|
|
||||||
TerrainBody.setUserPointer((IntPtr)0);
|
|
||||||
m_world.addRigidBody(TerrainBody);
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void SetWaterLevel(float baseheight)
|
|
||||||
{
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void DeleteTerrain()
|
|
||||||
{
|
|
||||||
if (TerrainBody != null)
|
|
||||||
{
|
|
||||||
m_world.removeRigidBody(TerrainBody);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (m_terrainShape != null)
|
|
||||||
{
|
|
||||||
m_terrainShape.Dispose();
|
|
||||||
m_terrainShape = null;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (m_terrainMotionState != null)
|
|
||||||
{
|
|
||||||
m_terrainMotionState.Dispose();
|
|
||||||
m_terrainMotionState = null;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (m_terrainTransform != null)
|
|
||||||
{
|
|
||||||
m_terrainTransform.Dispose();
|
|
||||||
m_terrainTransform = null;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (m_terrainPosition != null)
|
|
||||||
{
|
|
||||||
m_terrainPosition.Dispose();
|
|
||||||
m_terrainPosition = null;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void Dispose()
|
|
||||||
{
|
|
||||||
disposeAllBodies();
|
|
||||||
m_world.Dispose();
|
|
||||||
m_broadphase.Dispose();
|
|
||||||
((btDefaultCollisionConfiguration) m_collisionConfiguration).Dispose();
|
|
||||||
((btSequentialImpulseConstraintSolver) m_solver).Dispose();
|
|
||||||
worldAabbMax.Dispose();
|
|
||||||
worldAabbMin.Dispose();
|
|
||||||
VectorZero.Dispose();
|
|
||||||
QuatIdentity.Dispose();
|
|
||||||
m_gravity.Dispose();
|
|
||||||
VectorZero = null;
|
|
||||||
QuatIdentity = null;
|
|
||||||
}
|
|
||||||
|
|
||||||
public override Dictionary<uint, float> GetTopColliders()
|
|
||||||
{
|
|
||||||
return new Dictionary<uint, float>();
|
|
||||||
}
|
|
||||||
|
|
||||||
public btDiscreteDynamicsWorld getBulletWorld()
|
|
||||||
{
|
|
||||||
return m_world;
|
|
||||||
}
|
|
||||||
|
|
||||||
private void disposeAllBodies()
|
|
||||||
{
|
|
||||||
lock (m_prims)
|
|
||||||
{
|
|
||||||
m_primsLocalID.Clear();
|
|
||||||
foreach (BulletDotNETPrim prim in m_prims)
|
|
||||||
{
|
|
||||||
if (prim.Body != null)
|
|
||||||
m_world.removeRigidBody(prim.Body);
|
|
||||||
|
|
||||||
prim.Dispose();
|
|
||||||
}
|
|
||||||
m_prims.Clear();
|
|
||||||
|
|
||||||
foreach (BulletDotNETCharacter chr in m_characters)
|
|
||||||
{
|
|
||||||
if (chr.Body != null)
|
|
||||||
m_world.removeRigidBody(chr.Body);
|
|
||||||
chr.Dispose();
|
|
||||||
}
|
|
||||||
m_characters.Clear();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public override bool IsThreaded
|
|
||||||
{
|
|
||||||
get { return false; }
|
|
||||||
}
|
|
||||||
|
|
||||||
internal void addCollisionEventReporting(PhysicsActor bulletDotNETCharacter)
|
|
||||||
{
|
|
||||||
//TODO: FIXME:
|
|
||||||
}
|
|
||||||
|
|
||||||
internal void remCollisionEventReporting(PhysicsActor bulletDotNETCharacter)
|
|
||||||
{
|
|
||||||
//TODO: FIXME:
|
|
||||||
}
|
|
||||||
|
|
||||||
internal void AddRigidBody(btRigidBody Body)
|
|
||||||
{
|
|
||||||
m_world.addRigidBody(Body);
|
|
||||||
}
|
|
||||||
[Obsolete("bad!")]
|
|
||||||
internal void removeFromWorld(btRigidBody body)
|
|
||||||
{
|
|
||||||
|
|
||||||
m_world.removeRigidBody(body);
|
|
||||||
}
|
|
||||||
|
|
||||||
internal void removeFromWorld(BulletDotNETPrim prm ,btRigidBody body)
|
|
||||||
{
|
|
||||||
lock (m_prims)
|
|
||||||
{
|
|
||||||
if (m_prims.Contains(prm))
|
|
||||||
{
|
|
||||||
m_world.removeRigidBody(body);
|
|
||||||
}
|
|
||||||
remActivePrim(prm);
|
|
||||||
m_primsLocalID.Remove(prm.m_localID);
|
|
||||||
m_prims.Remove(prm);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
internal float GetWaterLevel()
|
|
||||||
{
|
|
||||||
throw new NotImplementedException();
|
|
||||||
}
|
|
||||||
|
|
||||||
// Recovered for use by fly height. Kitto Flora
|
|
||||||
public float GetTerrainHeightAtXY(float x, float y)
|
|
||||||
{
|
|
||||||
// Teravus: Kitto, this code causes recurring errors that stall physics permenantly unless
|
|
||||||
// the values are checked, so checking below.
|
|
||||||
// Is there any reason that we don't do this in ScenePresence?
|
|
||||||
// The only physics engine that benefits from it in the physics plugin is this one
|
|
||||||
|
|
||||||
if (x > (int)Constants.RegionSize || y > (int)Constants.RegionSize ||
|
|
||||||
x < 0.001f || y < 0.001f)
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
return _origheightmap[(int)y * Constants.RegionSize + (int)x];
|
|
||||||
}
|
|
||||||
// End recovered. Kitto Flora
|
|
||||||
|
|
||||||
/// <summary>
|
|
||||||
/// Routine to figure out if we need to mesh this prim with our mesher
|
|
||||||
/// </summary>
|
|
||||||
/// <param name="pbs"></param>
|
|
||||||
/// <returns></returns>
|
|
||||||
public bool needsMeshing(PrimitiveBaseShape pbs)
|
|
||||||
{
|
|
||||||
// most of this is redundant now as the mesher will return null if it cant mesh a prim
|
|
||||||
// but we still need to check for sculptie meshing being enabled so this is the most
|
|
||||||
// convenient place to do it for now...
|
|
||||||
|
|
||||||
// //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
|
|
||||||
// //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
|
|
||||||
int iPropertiesNotSupportedDefault = 0;
|
|
||||||
|
|
||||||
if (pbs.SculptEntry && !meshSculptedPrim)
|
|
||||||
{
|
|
||||||
#if SPAM
|
|
||||||
m_log.Warn("NonMesh");
|
|
||||||
#endif
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
// if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
|
|
||||||
if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
|
|
||||||
|| (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
|
|
||||||
&& pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
|
|
||||||
{
|
|
||||||
|
|
||||||
if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
|
|
||||||
&& pbs.ProfileHollow == 0
|
|
||||||
&& pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
|
|
||||||
&& pbs.PathBegin == 0 && pbs.PathEnd == 0
|
|
||||||
&& pbs.PathTaperX == 0 && pbs.PathTaperY == 0
|
|
||||||
&& pbs.PathScaleX == 100 && pbs.PathScaleY == 100
|
|
||||||
&& pbs.PathShearX == 0 && pbs.PathShearY == 0)
|
|
||||||
{
|
|
||||||
#if SPAM
|
|
||||||
m_log.Warn("NonMesh");
|
|
||||||
#endif
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (pbs.ProfileHollow != 0)
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
|
|
||||||
if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
|
|
||||||
if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
|
|
||||||
if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
|
|
||||||
if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
|
|
||||||
if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
|
|
||||||
if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
|
|
||||||
if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
|
|
||||||
if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
|
|
||||||
// test for torus
|
|
||||||
if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
|
|
||||||
{
|
|
||||||
if (pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
||||||
{
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
|
|
||||||
{
|
|
||||||
if (pbs.PathCurve == (byte)Extrusion.Straight)
|
|
||||||
{
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
}
|
|
||||||
|
|
||||||
// ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
|
|
||||||
else if (pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
||||||
{
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
|
|
||||||
{
|
|
||||||
if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
|
|
||||||
{
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
|
|
||||||
{
|
|
||||||
if (pbs.PathCurve == (byte)Extrusion.Straight)
|
|
||||||
{
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
}
|
|
||||||
else if (pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
||||||
{
|
|
||||||
iPropertiesNotSupportedDefault++;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
if (iPropertiesNotSupportedDefault == 0)
|
|
||||||
{
|
|
||||||
#if SPAM
|
|
||||||
m_log.Warn("NonMesh");
|
|
||||||
#endif
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
#if SPAM
|
|
||||||
m_log.Debug("Mesh");
|
|
||||||
#endif
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
internal void addActivePrim(BulletDotNETPrim pPrim)
|
|
||||||
{
|
|
||||||
lock (m_activePrims)
|
|
||||||
{
|
|
||||||
if (!m_activePrims.Contains(pPrim))
|
|
||||||
{
|
|
||||||
m_activePrims.Add(pPrim);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public void remActivePrim(BulletDotNETPrim pDeactivatePrim)
|
|
||||||
{
|
|
||||||
lock (m_activePrims)
|
|
||||||
{
|
|
||||||
m_activePrims.Remove(pDeactivatePrim);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
internal void AddPrimToScene(BulletDotNETPrim pPrim)
|
|
||||||
{
|
|
||||||
lock (m_prims)
|
|
||||||
{
|
|
||||||
if (!m_prims.Contains(pPrim))
|
|
||||||
{
|
|
||||||
try
|
|
||||||
{
|
|
||||||
m_prims.Add(pPrim);
|
|
||||||
m_primsLocalID.Add(pPrim.m_localID, pPrim);
|
|
||||||
}
|
|
||||||
catch
|
|
||||||
{
|
|
||||||
// noop if it's already there
|
|
||||||
m_log.Debug("[PHYSICS] BulletDotNet: adding duplicate prim localID");
|
|
||||||
}
|
|
||||||
m_world.addRigidBody(pPrim.Body);
|
|
||||||
// m_log.Debug("[PHYSICS] added prim to scene");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
internal void EnableCollisionInterface()
|
|
||||||
{
|
|
||||||
if (m_CollisionInterface == null)
|
|
||||||
{
|
|
||||||
m_CollisionInterface = new ContactAddedCallbackHandler(m_world);
|
|
||||||
// m_world.SetCollisionAddedCallback(m_CollisionInterface);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -1,58 +0,0 @@
|
||||||
/*
|
|
||||||
* Copyright (c) Contributors, http://opensimulator.org/
|
|
||||||
* See CONTRIBUTORS.TXT for a full list of copyright holders.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions are met:
|
|
||||||
* * Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* * Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in the
|
|
||||||
* documentation and/or other materials provided with the distribution.
|
|
||||||
* * Neither the name of the OpenSimulator Project nor the
|
|
||||||
* names of its contributors may be used to endorse or promote products
|
|
||||||
* derived from this software without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
|
||||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
||||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
||||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
|
||||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
||||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
||||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
||||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
||||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
||||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*/
|
|
||||||
|
|
||||||
using System.Reflection;
|
|
||||||
using System.Runtime.InteropServices;
|
|
||||||
|
|
||||||
// Information about this assembly is defined by the following
|
|
||||||
// attributes.
|
|
||||||
//
|
|
||||||
// change them to the information which is associated with the assembly
|
|
||||||
// you compile.
|
|
||||||
|
|
||||||
[assembly : AssemblyTitle("BulletXPlugin")]
|
|
||||||
[assembly : AssemblyDescription("")]
|
|
||||||
[assembly : AssemblyConfiguration("")]
|
|
||||||
[assembly : AssemblyCompany("http://opensimulator.org")]
|
|
||||||
[assembly : AssemblyProduct("BulletXPlugin")]
|
|
||||||
[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
|
|
||||||
[assembly : AssemblyTrademark("")]
|
|
||||||
[assembly : AssemblyCulture("")]
|
|
||||||
|
|
||||||
// This sets the default COM visibility of types in the assembly to invisible.
|
|
||||||
// If you need to expose a type to COM, use [ComVisible(true)] on that type.
|
|
||||||
|
|
||||||
[assembly : ComVisible(false)]
|
|
||||||
|
|
||||||
// The assembly version has following format :
|
|
||||||
//
|
|
||||||
// Major.Minor.Build.Revision
|
|
||||||
//
|
|
||||||
// You can specify all values by your own or you can build default build and revision
|
|
||||||
// numbers with the '*' character (the default):
|
|
||||||
|
|
||||||
[assembly : AssemblyVersion("0.6.5.*")]
|
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,197 +0,0 @@
|
||||||
/*
|
|
||||||
Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
|
|
||||||
Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
|
|
||||||
|
|
||||||
This software is provided 'as-is', without any express or implied
|
|
||||||
warranty. In no event will the authors be held liable for any damages
|
|
||||||
arising from the use of this software.
|
|
||||||
|
|
||||||
Permission is granted to anyone to use this software for any purpose,
|
|
||||||
including commercial applications, and to alter it and redistribute it
|
|
||||||
freely, subject to the following restrictions:
|
|
||||||
|
|
||||||
1. The origin of this software must not be misrepresented; you must not
|
|
||||||
claim that you wrote the original software. If you use this software
|
|
||||||
in a product, an acknowledgment in the product documentation would be
|
|
||||||
appreciated but is not required.
|
|
||||||
2. Altered source versions must be plainly marked as such, and must not be
|
|
||||||
misrepresented as being the original software.
|
|
||||||
3. This notice may not be removed or altered from any source distribution.
|
|
||||||
*/
|
|
||||||
|
|
||||||
/*
|
|
||||||
This file contains a class TriangleIndexVertexArray. I tried using the class with the same name
|
|
||||||
from the BulletX implementation and found it unusable for the purpose of using triangle meshes
|
|
||||||
within BulletX as the implementation was painfully incomplete.
|
|
||||||
The attempt to derive from the original class failed as viable members were hidden.
|
|
||||||
Fiddling around with BulletX itself was not my intention.
|
|
||||||
So I copied the class to the BulletX-plugin and modified it.
|
|
||||||
If you want to fiddle around with it it's up to you to move all this to BulletX.
|
|
||||||
If someone someday implements the missing functionality in BulletX, feel free to remove this class.
|
|
||||||
It's just an ugly hack.
|
|
||||||
*/
|
|
||||||
|
|
||||||
using System;
|
|
||||||
using System.Collections.Generic;
|
|
||||||
using MonoXnaCompactMaths;
|
|
||||||
using XnaDevRu.BulletX;
|
|
||||||
|
|
||||||
namespace OpenSim.Region.Physics.BulletXPlugin
|
|
||||||
{
|
|
||||||
/// <summary>
|
|
||||||
/// IndexedMesh indexes into existing vertex and index arrays, in a similar way OpenGL glDrawElements
|
|
||||||
/// instead of the number of indices, we pass the number of triangles
|
|
||||||
/// </summary>
|
|
||||||
public struct IndexedMesh
|
|
||||||
{
|
|
||||||
private int _numTriangles;
|
|
||||||
private int[] _triangleIndexBase;
|
|
||||||
private int _triangleIndexStride;
|
|
||||||
private int _numVertices;
|
|
||||||
private Vector3[] _vertexBase;
|
|
||||||
private int _vertexStride;
|
|
||||||
|
|
||||||
public IndexedMesh(int numTriangleIndices, int[] triangleIndexBase, int triangleIndexStride, int numVertices,
|
|
||||||
Vector3[] vertexBase, int vertexStride)
|
|
||||||
{
|
|
||||||
_numTriangles = numTriangleIndices;
|
|
||||||
_triangleIndexBase = triangleIndexBase;
|
|
||||||
_triangleIndexStride = triangleIndexStride;
|
|
||||||
_vertexBase = vertexBase;
|
|
||||||
_numVertices = numVertices;
|
|
||||||
_vertexStride = vertexStride;
|
|
||||||
}
|
|
||||||
|
|
||||||
public IndexedMesh(int[] triangleIndexBase, Vector3[] vertexBase)
|
|
||||||
{
|
|
||||||
_numTriangles = triangleIndexBase.Length;
|
|
||||||
_triangleIndexBase = triangleIndexBase;
|
|
||||||
_triangleIndexStride = 32;
|
|
||||||
_vertexBase = vertexBase;
|
|
||||||
_numVertices = vertexBase.Length;
|
|
||||||
_vertexStride = 24;
|
|
||||||
}
|
|
||||||
|
|
||||||
public int TriangleCount
|
|
||||||
{
|
|
||||||
get { return _numTriangles; }
|
|
||||||
set { _numTriangles = value; }
|
|
||||||
}
|
|
||||||
|
|
||||||
public int[] TriangleIndexBase
|
|
||||||
{
|
|
||||||
get { return _triangleIndexBase; }
|
|
||||||
set { _triangleIndexBase = value; }
|
|
||||||
}
|
|
||||||
|
|
||||||
public int TriangleIndexStride
|
|
||||||
{
|
|
||||||
get { return _triangleIndexStride; }
|
|
||||||
set { _triangleIndexStride = value; }
|
|
||||||
}
|
|
||||||
|
|
||||||
public int VertexCount
|
|
||||||
{
|
|
||||||
get { return _numVertices; }
|
|
||||||
set { _numVertices = value; }
|
|
||||||
}
|
|
||||||
|
|
||||||
public Vector3[] VertexBase
|
|
||||||
{
|
|
||||||
get { return _vertexBase; }
|
|
||||||
set { _vertexBase = value; }
|
|
||||||
}
|
|
||||||
|
|
||||||
public int VertexStride
|
|
||||||
{
|
|
||||||
get { return _vertexStride; }
|
|
||||||
set { _vertexStride = value; }
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/// <summary>
|
|
||||||
/// TriangleIndexVertexArray allows to use multiple meshes, by indexing into existing triangle/index arrays.
|
|
||||||
/// Additional meshes can be added using addIndexedMesh
|
|
||||||
/// </summary>
|
|
||||||
public class TriangleIndexVertexArray : StridingMeshInterface
|
|
||||||
{
|
|
||||||
private List<IndexedMesh> _indexedMeshes = new List<IndexedMesh>();
|
|
||||||
|
|
||||||
public TriangleIndexVertexArray()
|
|
||||||
{
|
|
||||||
}
|
|
||||||
|
|
||||||
public TriangleIndexVertexArray(int numTriangleIndices, int[] triangleIndexBase, int triangleIndexStride,
|
|
||||||
int numVertices, Vector3[] vertexBase, int vertexStride)
|
|
||||||
{
|
|
||||||
IndexedMesh mesh = new IndexedMesh();
|
|
||||||
mesh.TriangleCount = numTriangleIndices;
|
|
||||||
mesh.TriangleIndexBase = triangleIndexBase;
|
|
||||||
mesh.TriangleIndexStride = triangleIndexStride;
|
|
||||||
mesh.VertexBase = vertexBase;
|
|
||||||
mesh.VertexCount = numVertices;
|
|
||||||
mesh.VertexStride = vertexStride;
|
|
||||||
|
|
||||||
AddIndexedMesh(mesh);
|
|
||||||
}
|
|
||||||
|
|
||||||
public TriangleIndexVertexArray(int[] triangleIndexBase, Vector3[] vertexBase)
|
|
||||||
: this(triangleIndexBase.Length, triangleIndexBase, 32, vertexBase.Length, vertexBase, 24)
|
|
||||||
{
|
|
||||||
}
|
|
||||||
|
|
||||||
public void AddIndexedMesh(IndexedMesh indexedMesh)
|
|
||||||
{
|
|
||||||
_indexedMeshes.Add(indexedMesh);
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void GetLockedVertexIndexBase(out List<Vector3> verts, out List<int> indicies, out int numfaces,
|
|
||||||
int subpart)
|
|
||||||
{
|
|
||||||
throw new Exception("The method or operation is not implemented.");
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void GetLockedReadOnlyVertexIndexBase(out List<Vector3> verts, out List<int> indicies,
|
|
||||||
out int numfaces, int subpart)
|
|
||||||
{
|
|
||||||
IndexedMesh m = _indexedMeshes[0];
|
|
||||||
Vector3[] vertexBase = m.VertexBase;
|
|
||||||
verts = new List<Vector3>();
|
|
||||||
foreach (Vector3 v in vertexBase)
|
|
||||||
{
|
|
||||||
verts.Add(v);
|
|
||||||
}
|
|
||||||
int[] indexBase = m.TriangleIndexBase;
|
|
||||||
indicies = new List<int>();
|
|
||||||
foreach (int i in indexBase)
|
|
||||||
{
|
|
||||||
indicies.Add(i);
|
|
||||||
}
|
|
||||||
numfaces = vertexBase.GetLength(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void UnLockVertexBase(int subpart)
|
|
||||||
{
|
|
||||||
throw new Exception("The method or operation is not implemented.");
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void UnLockReadOnlyVertexBase(int subpart)
|
|
||||||
{
|
|
||||||
}
|
|
||||||
|
|
||||||
public override int SubPartsCount()
|
|
||||||
{
|
|
||||||
return _indexedMeshes.Count;
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void PreallocateVertices(int numverts)
|
|
||||||
{
|
|
||||||
throw new Exception("The method or operation is not implemented.");
|
|
||||||
}
|
|
||||||
|
|
||||||
public override void PreallocateIndices(int numindices)
|
|
||||||
{
|
|
||||||
throw new Exception("The method or operation is not implemented.");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -149,14 +149,11 @@
|
||||||
|
|
||||||
;; Choose one of the physics engines below
|
;; Choose one of the physics engines below
|
||||||
;; OpenDynamicsEngine is by some distance the most developed physics engine
|
;; OpenDynamicsEngine is by some distance the most developed physics engine
|
||||||
;; basicphysics effectively does not model physics at all, making all
|
;; basicphysics effectively does not model physics at all, making all objects phantom
|
||||||
;; objects phantom
|
|
||||||
;; The Bullet plugins do not work properly right now. A better Bullet plugin is on the way.
|
|
||||||
;; Default is OpenDynamicsEngine
|
;; Default is OpenDynamicsEngine
|
||||||
; physics = OpenDynamicsEngine
|
; physics = OpenDynamicsEngine
|
||||||
; physics = basicphysics
|
; physics = basicphysics
|
||||||
; physics = POS
|
; physics = POS
|
||||||
; physics = modified_BulletX
|
|
||||||
|
|
||||||
;# {permissionmodules} {} {Permission modules to use (may specify multiple modules, separated by space} {} DefaultPermissionsModule
|
;# {permissionmodules} {} {Permission modules to use (may specify multiple modules, separated by space} {} DefaultPermissionsModule
|
||||||
;; Permission modules to use, separated by space.
|
;; Permission modules to use, separated by space.
|
||||||
|
|
|
||||||
56
prebuild.xml
56
prebuild.xml
|
|
@ -603,34 +603,6 @@
|
||||||
</Files>
|
</Files>
|
||||||
</Project>
|
</Project>
|
||||||
|
|
||||||
<Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.BulletXPlugin" path="OpenSim/Region/Physics/BulletXPlugin" type="Library">
|
|
||||||
<Configuration name="Debug">
|
|
||||||
<Options>
|
|
||||||
<OutputPath>../../../../bin/Physics/</OutputPath>
|
|
||||||
</Options>
|
|
||||||
</Configuration>
|
|
||||||
<Configuration name="Release">
|
|
||||||
<Options>
|
|
||||||
<OutputPath>../../../../bin/Physics/</OutputPath>
|
|
||||||
</Options>
|
|
||||||
</Configuration>
|
|
||||||
|
|
||||||
<ReferencePath>../../../../bin/</ReferencePath>
|
|
||||||
<Reference name="System"/>
|
|
||||||
<Reference name="OpenMetaverseTypes" path="../../../../bin/"/>
|
|
||||||
<Reference name="Nini" path="../../../../bin/"/>
|
|
||||||
<Reference name="OpenSim.Framework"/>
|
|
||||||
<Reference name="OpenSim.Framework.Console"/>
|
|
||||||
<Reference name="OpenSim.Region.Physics.Manager"/>
|
|
||||||
<Reference name="MonoXnaCompactMaths" path="../../../../bin/"/>
|
|
||||||
<Reference name="Modified.XnaDevRu.BulletX" path="../../../../bin/"/>
|
|
||||||
<Reference name="log4net" path="../../../../bin/"/>
|
|
||||||
|
|
||||||
<Files>
|
|
||||||
<Match pattern="*.cs" recurse="true"/>
|
|
||||||
</Files>
|
|
||||||
</Project>
|
|
||||||
|
|
||||||
<Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.ConvexDecompositionDotNet" path="OpenSim/Region/Physics/ConvexDecompositionDotNet" type="Library">
|
<Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.ConvexDecompositionDotNet" path="OpenSim/Region/Physics/ConvexDecompositionDotNet" type="Library">
|
||||||
<Configuration name="Debug">
|
<Configuration name="Debug">
|
||||||
<Options>
|
<Options>
|
||||||
|
|
@ -720,34 +692,6 @@
|
||||||
</Files>
|
</Files>
|
||||||
</Project>
|
</Project>
|
||||||
|
|
||||||
<Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.BulletDotNETPlugin" path="OpenSim/Region/Physics/BulletDotNETPlugin" type="Library">
|
|
||||||
<Configuration name="Debug">
|
|
||||||
<Options>
|
|
||||||
<OutputPath>../../../../bin/Physics/</OutputPath>
|
|
||||||
</Options>
|
|
||||||
</Configuration>
|
|
||||||
<Configuration name="Release">
|
|
||||||
<Options>
|
|
||||||
<OutputPath>../../../../bin/Physics/</OutputPath>
|
|
||||||
</Options>
|
|
||||||
</Configuration>
|
|
||||||
|
|
||||||
<ReferencePath>../../../../bin/</ReferencePath>
|
|
||||||
<Reference name="System"/>
|
|
||||||
<Reference name="OpenMetaverseTypes" path="../../../../bin/"/>
|
|
||||||
<Reference name="Nini" path="../../../../bin/"/>
|
|
||||||
<Reference name="OpenSim.Framework"/>
|
|
||||||
<Reference name="OpenSim.Framework.Console"/>
|
|
||||||
<Reference name="OpenSim.Region.Physics.Manager"/>
|
|
||||||
<Reference name="BulletDotNET" path="../../../../bin/"/>
|
|
||||||
<Reference name="nunit.framework" path="../../../../bin/"/>
|
|
||||||
<Reference name="log4net" path="../../../../bin/"/>
|
|
||||||
|
|
||||||
<Files>
|
|
||||||
<Match pattern="*.cs" recurse="true"/>
|
|
||||||
</Files>
|
|
||||||
</Project>
|
|
||||||
|
|
||||||
<Project frameworkVersion="v3_5" name="OpenSim.Capabilities" path="OpenSim/Capabilities" type="Library">
|
<Project frameworkVersion="v3_5" name="OpenSim.Capabilities" path="OpenSim/Capabilities" type="Library">
|
||||||
<Configuration name="Debug">
|
<Configuration name="Debug">
|
||||||
<Options>
|
<Options>
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue