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Merge commit 'f95033812402aaf31a9f2f66c946165d2d79669f' into bigmerge 

Conflicts:
	OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
	OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
	prebuild.xml
avinationmerge
Melanie 2011-10-11 22:22:34 +01:00
parent 071c3fe721 f950338124
commit b9de3b7f5b
11 changed files with 1 additions and 7086 deletions
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58
OpenSim/Region/Physics/BulletDotNETPlugin/AssemblyInfo.cs
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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.
*/
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("BulletDotNETPlugin")]
[assembly : AssemblyDescription("")]
[assembly : AssemblyConfiguration("")]
[assembly : AssemblyCompany("http://opensimulator.org")]
[assembly : AssemblyProduct("OdePlugin")]
[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("0.6.3.*")]

1190
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
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65
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPlugin.cs
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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.
*/
using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
public class BulletDotNetPlugin : IPhysicsPlugin
{
private BulletDotNETScene m_scene;
private const string m_pluginName = "BulletDotNETPlugin";
#region IPhysicsPlugin Members
public bool Init()
{
return true;
}
public PhysicsScene GetScene(string sceneIdentifier)
{
if (m_scene == null)
{
m_scene = new BulletDotNETScene(sceneIdentifier);
}
return m_scene;
}
public string GetName()
{
return m_pluginName;
}
public void Dispose()
{
}
#endregion
}
}

60
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPluginStructs.cs
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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.
*/
using System;
public enum StatusIndicators : int
{
Generic = 0,
Start = 1,
End = 2
}
public struct sCollisionData
{
public uint ColliderLocalId;
public uint CollidedWithLocalId;
public int NumberOfCollisions;
public int CollisionType;
public int StatusIndicator;
public int lastframe;
}
[Flags]
public enum CollisionCategories : int
{
Disabled = 0,
Geom = 0x00000001,
Body = 0x00000002,
Space = 0x00000004,
Character = 0x00000008,
Land = 0x00000010,
Water = 0x00000020,
Wind = 0x00000040,
Sensor = 0x00000080,
Selected = 0x00000100
}

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OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
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OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
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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.
*/
using System;
using System.Collections.Generic;
using System.Reflection;
using System.IO;
using System.Diagnostics;
using System.Threading;
using log4net;
using Nini.Config;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenMetaverse;
using BulletDotNET;
namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
public class BulletDotNETScene : PhysicsScene
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
// private string m_sceneIdentifier = string.Empty;
private List<BulletDotNETCharacter> m_characters = new List<BulletDotNETCharacter>();
private Dictionary<uint, BulletDotNETCharacter> m_charactersLocalID = new Dictionary<uint, BulletDotNETCharacter>();
private List<BulletDotNETPrim> m_prims = new List<BulletDotNETPrim>();
private Dictionary<uint, BulletDotNETPrim> m_primsLocalID = new Dictionary<uint, BulletDotNETPrim>();
private List<BulletDotNETPrim> m_activePrims = new List<BulletDotNETPrim>();
private List<PhysicsActor> m_taintedActors = new List<PhysicsActor>();
private btDiscreteDynamicsWorld m_world;
private btAxisSweep3 m_broadphase;
private btCollisionConfiguration m_collisionConfiguration;
private btConstraintSolver m_solver;
private btCollisionDispatcher m_dispatcher;
private btHeightfieldTerrainShape m_terrainShape;
public btRigidBody TerrainBody;
private btVector3 m_terrainPosition;
private btVector3 m_gravity;
public btMotionState m_terrainMotionState;
public btTransform m_terrainTransform;
public btVector3 VectorZero;
public btQuaternion QuatIdentity;
public btTransform TransZero;
public float geomDefaultDensity = 10.000006836f;
private float avPIDD = 65f;
private float avPIDP = 21f;
private float avCapRadius = 0.37f;
private float avStandupTensor = 2000000f;
private float avDensity = 80f;
private float avHeightFudgeFactor = 0.52f;
private float avMovementDivisorWalk = 1.8f;
private float avMovementDivisorRun = 0.8f;
// private float minimumGroundFlightOffset = 3f;
public bool meshSculptedPrim = true;
public float meshSculptLOD = 32;
public float MeshSculptphysicalLOD = 16;
public float bodyPIDD = 35f;
public float bodyPIDG = 25;
internal int geomCrossingFailuresBeforeOutofbounds = 4;
public float bodyMotorJointMaxforceTensor = 2;
public int bodyFramesAutoDisable = 20;
public float WorldTimeStep = 10f/60f;
public const float WorldTimeComp = 1/60f;
public float gravityz = -9.8f;
private float[] _origheightmap; // Used for Fly height. Kitto Flora
private bool usingGImpactAlgorithm = false;
// private IConfigSource m_config;
private readonly btVector3 worldAabbMin = new btVector3(-10f, -10f, 0);
private readonly btVector3 worldAabbMax = new btVector3((int)Constants.RegionSize + 10f, (int)Constants.RegionSize + 10f, 9000);
public IMesher mesher;
private ContactAddedCallbackHandler m_CollisionInterface;
public BulletDotNETScene(string sceneIdentifier)
{
// m_sceneIdentifier = sceneIdentifier;
VectorZero = new btVector3(0, 0, 0);
QuatIdentity = new btQuaternion(0, 0, 0, 1);
TransZero = new btTransform(QuatIdentity, VectorZero);
m_gravity = new btVector3(0, 0, gravityz);
_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);
}
}
}
}

58
OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs
View File

@ -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.*")]

1855
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
View File

File diff suppressed because it is too large Load Diff

197
OpenSim/Region/Physics/BulletXPlugin/TriangleIndexVertexArray.cs
View File

@ -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.");
}
}
}

5
bin/OpenSim.ini.example
View File

@ -149,14 +149,11 @@
;; Choose one of the physics engines below
;; OpenDynamicsEngine is by some distance the most developed physics engine
;; basicphysics effectively does not model physics at all, making all
;; objects phantom
;; The Bullet plugins do not work properly right now. A better Bullet plugin is on the way.
;; basicphysics effectively does not model physics at all, making all objects phantom
;; Default is OpenDynamicsEngine
; physics = OpenDynamicsEngine
; physics = basicphysics
; physics = POS
; physics = modified_BulletX
;# {permissionmodules} {} {Permission modules to use (may specify multiple modules, separated by space} {} DefaultPermissionsModule
;; Permission modules to use, separated by space.

56
prebuild.xml
View File

@ -603,34 +603,6 @@
</Files>
</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">
<Configuration name="Debug">
<Options>
@ -720,34 +692,6 @@
</Files>
</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">
<Configuration name="Debug">
<Options>