From c2a7af18b639646b647eb4cdff4168a2b9746ee4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 30 Dec 2012 14:26:57 -0800 Subject: [PATCH] BulletSim: nearly complete in conversion from BulletSimAPI to BSAPITemplate. Only initialization and debug fuctions left. --- .../Physics/BulletSPlugin/BSAPIUnman.cs | 418 +++++++++++++----- .../{BulletSimAPI.cs => BSApiTemplate.cs} | 7 +- .../Physics/BulletSPlugin/BSCharacter.cs | 34 +- .../Physics/BulletSPlugin/BSDynamics.cs | 12 +- .../BulletSPlugin/BSLinksetCompound.cs | 5 - .../BulletSPlugin/BSLinksetConstraints.cs | 11 +- .../Region/Physics/BulletSPlugin/BSParam.cs | 10 +- .../Region/Physics/BulletSPlugin/BSPrim.cs | 46 +- .../Region/Physics/BulletSPlugin/BSScene.cs | 2 +- .../BulletSPlugin/BSShapeCollection.cs | 10 +- .../Region/Physics/BulletSPlugin/BSShapes.cs | 6 +- .../BulletSPlugin/BSTerrainHeightmap.cs | 2 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 2 +- .../Physics/BulletSPlugin/BSTerrainMesh.cs | 4 +- .../Physics/BulletSPlugin/BulletSimData.cs | 4 +- 15 files changed, 372 insertions(+), 201 deletions(-) rename OpenSim/Region/Physics/BulletSPlugin/{BulletSimAPI.cs => BSApiTemplate.cs} (99%) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 9a8a2e8f25..6e680537f7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -34,7 +34,7 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public sealed class BSAPIUnman : BulletSimAPITemplate +public sealed class BSAPIUnman : BSAPITemplate { /* // Initialization and simulation @@ -55,8 +55,11 @@ public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float out int collidersCount, out IntPtr collidersPtr); -public bool PushUpdate(BulletBody obj); */ +public override bool PushUpdate(BulletBody obj) +{ + return BSAPICPP.PushUpdate2(obj.ptr); +} // ===================================================================================== // Mesh, hull, shape and body creation helper routines @@ -569,146 +572,332 @@ public override void SetUserPointer(BulletBody obj, IntPtr val) BSAPICPP.SetUserPointer2(obj.ptr, val); } - /* // ===================================================================================== // btRigidBody entries -public override void ApplyGravity(BulletBody obj); +public override void ApplyGravity(BulletBody obj) +{ + BSAPICPP.ApplyGravity2(obj.ptr); +} -public override void SetGravity(BulletBody obj, Vector3 val); +public override void SetGravity(BulletBody obj, Vector3 val) +{ + BSAPICPP.SetGravity2(obj.ptr, val); +} -public override Vector3 GetGravity(BulletBody obj); +public override Vector3 GetGravity(BulletBody obj) +{ + return BSAPICPP.GetGravity2(obj.ptr); +} -public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping); +public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping) +{ + BSAPICPP.SetDamping2(obj.ptr, lin_damping, ang_damping); +} -public override void SetLinearDamping(BulletBody obj, float lin_damping); +public override void SetLinearDamping(BulletBody obj, float lin_damping) +{ + BSAPICPP.SetLinearDamping2(obj.ptr, lin_damping); +} -public override void SetAngularDamping(BulletBody obj, float ang_damping); +public override void SetAngularDamping(BulletBody obj, float ang_damping) +{ + BSAPICPP.SetAngularDamping2(obj.ptr, ang_damping); +} -public override float GetLinearDamping(BulletBody obj); +public override float GetLinearDamping(BulletBody obj) +{ + return BSAPICPP.GetLinearDamping2(obj.ptr); +} -public override float GetAngularDamping(BulletBody obj); +public override float GetAngularDamping(BulletBody obj) +{ + return BSAPICPP.GetAngularDamping2(obj.ptr); +} -public override float GetLinearSleepingThreshold(BulletBody obj); +public override float GetLinearSleepingThreshold(BulletBody obj) +{ + return BSAPICPP.GetLinearSleepingThreshold2(obj.ptr); +} +public override void ApplyDamping(BulletBody obj, float timeStep) +{ + BSAPICPP.ApplyDamping2(obj.ptr, timeStep); +} -public override void ApplyDamping(BulletBody obj, float timeStep); +public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia) +{ + BSAPICPP.SetMassProps2(obj.ptr, mass, inertia); +} -public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia); +public override Vector3 GetLinearFactor(BulletBody obj) +{ + return BSAPICPP.GetLinearFactor2(obj.ptr); +} -public override Vector3 GetLinearFactor(BulletBody obj); +public override void SetLinearFactor(BulletBody obj, Vector3 factor) +{ + BSAPICPP.SetLinearFactor2(obj.ptr, factor); +} -public override void SetLinearFactor(BulletBody obj, Vector3 factor); - -public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot); +public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) +{ + BSAPICPP.SetCenterOfMassByPosRot2(obj.ptr, pos, rot); +} // Add a force to the object as if its mass is one. -public override void ApplyCentralForce(BulletBody obj, Vector3 force); +public override void ApplyCentralForce(BulletBody obj, Vector3 force) +{ + BSAPICPP.ApplyCentralForce2(obj.ptr, force); +} // Set the force being applied to the object as if its mass is one. -public override void SetObjectForce(BulletBody obj, Vector3 force); +public override void SetObjectForce(BulletBody obj, Vector3 force) +{ + BSAPICPP.SetObjectForce2(obj.ptr, force); +} -public override Vector3 GetTotalForce(BulletBody obj); +public override Vector3 GetTotalForce(BulletBody obj) +{ + return BSAPICPP.GetTotalForce2(obj.ptr); +} -public override Vector3 GetTotalTorque(BulletBody obj); +public override Vector3 GetTotalTorque(BulletBody obj) +{ + return BSAPICPP.GetTotalTorque2(obj.ptr); +} -public override Vector3 GetInvInertiaDiagLocal(BulletBody obj); +public override Vector3 GetInvInertiaDiagLocal(BulletBody obj) +{ + return BSAPICPP.GetInvInertiaDiagLocal2(obj.ptr); +} -public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert); +public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert) +{ + BSAPICPP.SetInvInertiaDiagLocal2(obj.ptr, inert); +} -public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold); +public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold) +{ + BSAPICPP.SetSleepingThresholds2(obj.ptr, lin_threshold, ang_threshold); +} -public override void ApplyTorque(BulletBody obj, Vector3 torque); +public override void ApplyTorque(BulletBody obj, Vector3 torque) +{ + BSAPICPP.ApplyTorque2(obj.ptr, torque); +} // Apply force at the given point. Will add torque to the object. -public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos); +public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos) +{ + BSAPICPP.ApplyForce2(obj.ptr, force, pos); +} // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. -public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp); +public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp) +{ + BSAPICPP.ApplyCentralImpulse2(obj.ptr, imp); +} // Apply impulse to the object's torque. Force is scaled by object's mass. -public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp); +public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp) +{ + BSAPICPP.ApplyTorqueImpulse2(obj.ptr, imp); +} // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. -public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos); +public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos) +{ + BSAPICPP.ApplyImpulse2(obj.ptr, imp, pos); +} -public override void ClearForces(BulletBody obj); +public override void ClearForces(BulletBody obj) +{ + BSAPICPP.ClearForces2(obj.ptr); +} -public override void ClearAllForces(BulletBody obj); +public override void ClearAllForces(BulletBody obj) +{ + BSAPICPP.ClearAllForces2(obj.ptr); +} -public override void UpdateInertiaTensor(BulletBody obj); +public override void UpdateInertiaTensor(BulletBody obj) +{ + BSAPICPP.UpdateInertiaTensor2(obj.ptr); +} -public override Vector3 GetLinearVelocity(BulletBody obj); +public override Vector3 GetLinearVelocity(BulletBody obj) +{ + return BSAPICPP.GetLinearVelocity2(obj.ptr); +} -public override Vector3 GetAngularVelocity(BulletBody obj); +public override Vector3 GetAngularVelocity(BulletBody obj) +{ + return BSAPICPP.GetAngularVelocity2(obj.ptr); +} -public override void SetLinearVelocity(BulletBody obj, Vector3 val); +public override void SetLinearVelocity(BulletBody obj, Vector3 vel) +{ + BSAPICPP.SetLinearVelocity2(obj.ptr, vel); +} -public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity); +public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity) +{ + BSAPICPP.SetAngularVelocity2(obj.ptr, angularVelocity); +} -public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos); +public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos) +{ + return BSAPICPP.GetVelocityInLocalPoint2(obj.ptr, pos); +} -public override void Translate(BulletBody obj, Vector3 trans); +public override void Translate(BulletBody obj, Vector3 trans) +{ + BSAPICPP.Translate2(obj.ptr, trans); +} -public override void UpdateDeactivation(BulletBody obj, float timeStep); +public override void UpdateDeactivation(BulletBody obj, float timeStep) +{ + BSAPICPP.UpdateDeactivation2(obj.ptr, timeStep); +} -public override bool WantsSleeping(BulletBody obj); +public override bool WantsSleeping(BulletBody obj) +{ + return BSAPICPP.WantsSleeping2(obj.ptr); +} -public override void SetAngularFactor(BulletBody obj, float factor); +public override void SetAngularFactor(BulletBody obj, float factor) +{ + BSAPICPP.SetAngularFactor2(obj.ptr, factor); +} -public override void SetAngularFactorV(BulletBody obj, Vector3 factor); +public override void SetAngularFactorV(BulletBody obj, Vector3 factor) +{ + BSAPICPP.SetAngularFactorV2(obj.ptr, factor); +} -public override Vector3 GetAngularFactor(BulletBody obj); +public override Vector3 GetAngularFactor(BulletBody obj) +{ + return BSAPICPP.GetAngularFactor2(obj.ptr); +} -public override bool IsInWorld(BulletBody obj); +public override bool IsInWorld(BulletBody obj) +{ + return BSAPICPP.IsInWorld2(obj.ptr); +} -public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain); +public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain) +{ + BSAPICPP.AddConstraintRef2(obj.ptr, constrain.ptr); +} -public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain); +public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain) +{ + BSAPICPP.RemoveConstraintRef2(obj.ptr, constrain.ptr); +} -public override BulletConstraint GetConstraintRef(BulletBody obj, int index); +public override BulletConstraint GetConstraintRef(BulletBody obj, int index) +{ + return new BulletConstraint(BSAPICPP.GetConstraintRef2(obj.ptr, index)); +} -public override int GetNumConstraintRefs(BulletBody obj); +public override int GetNumConstraintRefs(BulletBody obj) +{ + return BSAPICPP.GetNumConstraintRefs2(obj.ptr); +} -public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask); +public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask) +{ + return BSAPICPP.SetCollisionGroupMask2(body.ptr, filter, mask); +} // ===================================================================================== // btCollisionShape entries -public override float GetAngularMotionDisc(BulletShape shape); +public override float GetAngularMotionDisc(BulletShape shape) +{ + return BSAPICPP.GetAngularMotionDisc2(shape.ptr); +} -public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor); +public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor) +{ + return BSAPICPP.GetContactBreakingThreshold2(shape.ptr, defaultFactor); +} -public override bool IsPolyhedral(BulletShape shape); +public override bool IsPolyhedral(BulletShape shape) +{ + return BSAPICPP.IsPolyhedral2(shape.ptr); +} -public override bool IsConvex2d(BulletShape shape); +public override bool IsConvex2d(BulletShape shape) +{ + return BSAPICPP.IsConvex2d2(shape.ptr); +} -public override bool IsConvex(BulletShape shape); +public override bool IsConvex(BulletShape shape) +{ + return BSAPICPP.IsConvex2(shape.ptr); +} -public override bool IsNonMoving(BulletShape shape); +public override bool IsNonMoving(BulletShape shape) +{ + return BSAPICPP.IsNonMoving2(shape.ptr); +} -public override bool IsConcave(BulletShape shape); +public override bool IsConcave(BulletShape shape) +{ + return BSAPICPP.IsConcave2(shape.ptr); +} -public override bool IsCompound(BulletShape shape); +public override bool IsCompound(BulletShape shape) +{ + return BSAPICPP.IsCompound2(shape.ptr); +} -public override bool IsSoftBody(BulletShape shape); +public override bool IsSoftBody(BulletShape shape) +{ + return BSAPICPP.IsSoftBody2(shape.ptr); +} -public override bool IsInfinite(BulletShape shape); +public override bool IsInfinite(BulletShape shape) +{ + return BSAPICPP.IsInfinite2(shape.ptr); +} -public override void SetLocalScaling(BulletShape shape, Vector3 scale); +public override void SetLocalScaling(BulletShape shape, Vector3 scale) +{ + BSAPICPP.SetLocalScaling2(shape.ptr, scale); +} -public override Vector3 GetLocalScaling(BulletShape shape); +public override Vector3 GetLocalScaling(BulletShape shape) +{ + return BSAPICPP.GetLocalScaling2(shape.ptr); +} -public override Vector3 CalculateLocalInertia(BulletShape shape, float mass); +public override Vector3 CalculateLocalInertia(BulletShape shape, float mass) +{ + return BSAPICPP.CalculateLocalInertia2(shape.ptr, mass); +} -public override int GetShapeType(BulletShape shape); +public override int GetShapeType(BulletShape shape) +{ + return BSAPICPP.GetShapeType2(shape.ptr); +} -public override void SetMargin(BulletShape shape, float val); +public override void SetMargin(BulletShape shape, float val) +{ + BSAPICPP.SetMargin2(shape.ptr, val); +} -public override float GetMargin(BulletShape shape); - */ +public override float GetMargin(BulletShape shape) +{ + return BSAPICPP.GetMargin2(shape.ptr); +} static class BSAPICPP { +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool PushUpdate2(IntPtr obj); + // ===================================================================================== // Mesh, hull, shape and body creation helper routines [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -1029,55 +1218,6 @@ public static extern IntPtr GetUserPointer2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetUserPointer2(IntPtr obj, IntPtr val); -} -} - -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -static class BulletSimAPI { -// =============================================================================== -// Link back to the managed code for outputting log messages -[UnmanagedFunctionPointer(CallingConvention.Cdecl)] -public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); - -// =============================================================================== -// Initialization and simulation -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray, - DebugLogCallback logRoutine); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHeightMap2(IntPtr world, float[] heightmap); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Shutdown2(IntPtr sim); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, - out IntPtr updatedEntitiesPtr, - out int collidersCount, - out IntPtr collidersPtr); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool PushUpdate2(IntPtr obj); - // ===================================================================================== // btRigidBody entries [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -1291,6 +1431,52 @@ public static extern void SetMargin2(IntPtr shape, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetMargin2(IntPtr shape); +} +} + +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +static class BulletSimAPI { +// =============================================================================== +// Link back to the managed code for outputting log messages +[UnmanagedFunctionPointer(CallingConvention.Cdecl)] +public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); + +// =============================================================================== +// Initialization and simulation +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray, + DebugLogCallback logRoutine); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetHeightMap2(IntPtr world, float[] heightmap); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Shutdown2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, + out IntPtr updatedEntitiesPtr, + out int collidersCount, + out IntPtr collidersPtr); + // ===================================================================================== // Debugging [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs similarity index 99% rename from OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs rename to OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index b119f22f44..fbf362d6af 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -290,7 +290,7 @@ public enum ConstraintParamAxis : int AXIS_ALL }; -public abstract class BulletSimAPITemplate +public abstract class BSAPITemplate { /* // Initialization and simulation @@ -311,8 +311,8 @@ public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSte out int collidersCount, out IntPtr collidersPtr); -public abstract bool PushUpdate(BulletBody obj); */ +public abstract bool PushUpdate(BulletBody obj); // ===================================================================================== // Mesh, hull, shape and body creation helper routines @@ -525,7 +525,6 @@ public abstract IntPtr GetUserPointer(BulletBody obj); public abstract void SetUserPointer(BulletBody obj, IntPtr val); - /* // ===================================================================================== // btRigidBody entries public abstract void ApplyGravity(BulletBody obj); @@ -546,7 +545,6 @@ public abstract float GetAngularDamping(BulletBody obj); public abstract float GetLinearSleepingThreshold(BulletBody obj); - public abstract void ApplyDamping(BulletBody obj, float timeStep); public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia); @@ -661,7 +659,6 @@ public abstract int GetShapeType(BulletShape shape); public abstract void SetMargin(BulletShape shape, float val); public abstract float GetMargin(BulletShape shape); - */ }; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 328164bc21..103d8fc1db 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -153,8 +153,8 @@ public sealed class BSCharacter : BSPhysObject Flying = _flying; PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); - BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); - BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); + PhysicsScene.PE.SetMargin(PhysShape, PhysicsScene.Params.collisionMargin); + PhysicsScene.PE.SetLocalScaling(PhysShape, Scale); PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); if (BSParam.CcdMotionThreshold > 0f) { @@ -165,19 +165,19 @@ public sealed class BSCharacter : BSPhysObject UpdatePhysicalMassProperties(RawMass, false); // Make so capsule does not fall over - BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); + PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); - // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); + // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); // Do this after the object has been added to the world PhysBody.collisionType = CollisionType.Avatar; - PhysBody.ApplyCollisionMask(); + PhysBody.ApplyCollisionMask(PhysicsScene); } // The avatar's movement is controlled by this motor that speeds up and slows down @@ -265,10 +265,10 @@ public sealed class BSCharacter : BSPhysObject { if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) { - BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); + PhysicsScene.PE.SetLocalScaling(PhysShape, Scale); UpdatePhysicalMassProperties(RawMass, true); // Make sure this change appears as a property update event - BulletSimAPI.PushUpdate2(PhysBody.ptr); + PhysicsScene.PE.PushUpdate(PhysBody); } }); @@ -309,7 +309,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) - BulletSimAPI.ClearAllForces2(PhysBody.ptr); + PhysicsScene.PE.ClearAllForces(PhysBody); }); } public override void ZeroAngularMotion(bool inTaintTime) @@ -321,9 +321,9 @@ public sealed class BSCharacter : BSPhysObject if (PhysBody.HasPhysicalBody) { PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero); // The next also get rid of applied linear force but the linear velocity is untouched. - BulletSimAPI.ClearForces2(PhysBody.ptr); + PhysicsScene.PE.ClearForces(PhysBody); } }); } @@ -339,7 +339,7 @@ public sealed class BSCharacter : BSPhysObject public override OMV.Vector3 Position { get { // Don't refetch the position because this function is called a zillion times - // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID); + // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); return _position; } set { @@ -433,8 +433,8 @@ public sealed class BSCharacter : BSPhysObject } public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); - BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); + OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); + PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia); } public override OMV.Vector3 Force { @@ -446,7 +446,7 @@ public sealed class BSCharacter : BSPhysObject { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); + PhysicsScene.PE.SetObjectForce(PhysBody, _force); }); } } @@ -533,7 +533,7 @@ public sealed class BSCharacter : BSPhysObject } } - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); PhysicsScene.PE.Activate(PhysBody, true); } } @@ -676,7 +676,7 @@ public sealed class BSCharacter : BSPhysObject // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); + PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav)); } } @@ -737,7 +737,7 @@ public sealed class BSCharacter : BSPhysObject // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); + PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); } }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 5d70ef7a31..e4e3edc32f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -564,17 +564,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. // Maybe compute linear and angular factor and damping from params. float angularDamping = BSParam.VehicleAngularDamping; - BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); + PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping); // Vehicles report collision events so we know when it's on the ground PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); - BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); - BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); + Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass); + PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, localInertia); + PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody); Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); - BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav); + PhysicsScene.PE.SetGravity(Prim.PhysBody, grav); VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); @@ -669,7 +669,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If we set one of the values (ie, the physics engine didn't do it) we must force // an UpdateProperties event to send the changes up to the simulator. - BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); + PhysicsScene.PE.PushUpdate(Prim.PhysBody); } m_knownChanged = 0; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 143c60cdfc..bd03d31ce9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -387,11 +387,6 @@ public sealed class BSLinksetCompound : BSLinkset } PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape); - - // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets. - // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - } } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 629bc72fc4..d0b2a567a4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -259,7 +259,7 @@ public sealed class BSLinksetConstraints : BSLinkset if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) { // Make the child refresh its location - BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr); + PhysicsScene.PE.PushUpdate(childPrim.PhysBody); ret = true; } @@ -286,9 +286,6 @@ public sealed class BSLinksetConstraints : BSLinkset float linksetMass = LinksetMass; LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true); - // DEBUG: see of inter-linkset collisions are causing problems - // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); @@ -307,11 +304,7 @@ public sealed class BSLinksetConstraints : BSLinkset } constrain.RecomputeConstraintVariables(linksetMass); - // DEBUG: see of inter-linkset collisions are causing problems - // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - - // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG + // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index c6c2946235..339722ed6c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -280,7 +280,7 @@ public static class BSParam (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); }, (s) => { return s.UnmanagedParams[0].gravity; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); }, - (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), + (s,o,v) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,v)); } ), new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", @@ -288,13 +288,13 @@ public static class BSParam (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, (s) => { return LinearDamping; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ), + (s,o,v) => { s.PE.SetDamping(o.PhysBody, v, AngularDamping); } ), new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", 0f, (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, (s) => { return AngularDamping; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ), + (s,o,v) => { s.PE.SetDamping(o.PhysBody, LinearDamping, v); } ), new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", 0.2f, (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, @@ -306,13 +306,13 @@ public static class BSParam (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return LinearSleepingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), + (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", 1.0f, (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return AngularSleepingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), + (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , 0f, // set to zero to disable (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 613606fefe..064ce3c4fc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -253,7 +253,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) - BulletSimAPI.ClearAllForces2(PhysBody.ptr); + PhysicsScene.PE.ClearAllForces(PhysBody); }); } public override void ZeroAngularMotion(bool inTaintTime) @@ -266,7 +266,7 @@ public sealed class BSPrim : BSPhysObject if (PhysBody.HasPhysicalBody) { PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); } }); } @@ -292,7 +292,7 @@ public sealed class BSPrim : BSPhysObject */ // don't do the GetObjectPosition for root elements because this function is called a zillion times. - // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); + // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody); return _position; } set { @@ -405,10 +405,10 @@ public sealed class BSPrim : BSPhysObject { if (IsStatic) { - BulletSimAPI.SetGravity2(PhysBody.ptr, PhysicsScene.DefaultGravity); + PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity); Inertia = OMV.Vector3.Zero; - BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); + PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia); + PhysicsScene.PE.UpdateInertiaTensor(PhysBody); } else { @@ -423,14 +423,14 @@ public sealed class BSPrim : BSPhysObject } // The computation of mass props requires gravity to be set on the object. - BulletSimAPI.SetGravity2(PhysBody.ptr, grav); + PhysicsScene.PE.SetGravity(PhysBody, grav); - Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); - BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); + Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); + PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia); + PhysicsScene.PE.UpdateInertiaTensor(PhysBody); // center of mass is at the zero of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); + // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation); DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld); if (inWorld) @@ -440,7 +440,7 @@ public sealed class BSPrim : BSPhysObject // Must set gravity after it has been added to the world because, for unknown reasons, // adding the object resets the object's gravity to world gravity - BulletSimAPI.SetGravity2(PhysBody.ptr, grav); + PhysicsScene.PE.SetGravity(PhysBody, grav); } } @@ -483,7 +483,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); if (PhysBody.HasPhysicalBody) { - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force); + PhysicsScene.PE.ApplyCentralForce(PhysBody, _force); ActivateIfPhysical(false); } } @@ -583,7 +583,7 @@ public sealed class BSPrim : BSPhysObject _velocity = value; if (PhysBody.HasPhysicalBody) { - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); ActivateIfPhysical(false); } } @@ -809,7 +809,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); // Center of mass is at the center of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody, _position, _orientation); + // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation); // A dynamic object has mass UpdatePhysicalMassProperties(RawMass, false); @@ -822,9 +822,9 @@ public sealed class BSPrim : BSPhysObject } // Various values for simulation limits - BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping); + PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping); PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime); - BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); + PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); // This collides like an object. @@ -901,10 +901,10 @@ public sealed class BSPrim : BSPhysObject // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. // Replace this when the new AddObjectToWorld function is complete. - BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity()); + PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity()); // Collision filter can be set only when the object is in the world - if (!PhysBody.ApplyCollisionMask()) + if (!PhysBody.ApplyCollisionMask(PhysicsScene)) { m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); @@ -969,7 +969,7 @@ public sealed class BSPrim : BSPhysObject _rotationalVelocity = value; if (PhysBody.HasPhysicalBody) { - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); ActivateIfPhysical(false); } } @@ -1061,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); + PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); ActivateIfPhysical(false); } }); @@ -1085,7 +1085,7 @@ public sealed class BSPrim : BSPhysObject { if (PhysBody.HasPhysicalBody) { - BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce); + PhysicsScene.PE.ApplyTorque(PhysBody, angForce); ActivateIfPhysical(false); } }); @@ -1108,7 +1108,7 @@ public sealed class BSPrim : BSPhysObject { if (PhysBody.HasPhysicalBody) { - BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); + PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse); ActivateIfPhysical(false); } }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index bfc9df2694..28c6680a63 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -51,7 +51,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public string BulletSimVersion = "?"; // The handle to the underlying managed or unmanaged version of Bullet being used. - public BulletSimAPITemplate PE; + public BSAPITemplate PE; public Dictionary PhysObjects; public BSShapeCollection Shapes; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index d59e4556d2..cd775814f6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -141,7 +141,7 @@ public sealed class BSShapeCollection : IDisposable if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() { - if (!BulletSimAPI.IsInWorld2(body.ptr)) + if (!PhysicsScene.PE.IsInWorld(body)) { PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body); if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); @@ -166,7 +166,7 @@ public sealed class BSShapeCollection : IDisposable // If the caller needs to know the old body is going away, pass the event up. if (bodyCallback != null) bodyCallback(body); - if (BulletSimAPI.IsInWorld2(body.ptr)) + if (PhysicsScene.PE.IsInWorld(body)) { PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); @@ -332,7 +332,7 @@ public sealed class BSShapeCollection : IDisposable // Called at taint-time. private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) { - if (!BulletSimAPI.IsCompound2(shape.ptr)) + if (!PhysicsScene.PE.IsCompound(shape)) { // Failed the sanity check!! PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", @@ -376,7 +376,7 @@ public sealed class BSShapeCollection : IDisposable } else { - if (BulletSimAPI.IsCompound2(cShape)) + if (PhysicsScene.PE.IsCompound(shapeInfo)) { shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; } @@ -467,7 +467,7 @@ public sealed class BSShapeCollection : IDisposable // Get the scale of any existing shape so we can see if the new shape is same native type and same size. OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero; if (prim.PhysShape.HasPhysicalShape) - scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr); + scaleOfExistingShape = PhysicsScene.PE.GetLocalScaling(prim.PhysShape); if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}", prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 423e700698..c75eb9bcb2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -151,12 +151,12 @@ public class BSShapeNative : BSShape /* if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) { - ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); + ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale); physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); } else { - ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData); + ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData); } if (ptr == IntPtr.Zero) { @@ -173,7 +173,7 @@ public class BSShapeNative : BSShape /* // Native shapes are not tracked and are released immediately physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); - BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr); + PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this); ptr = IntPtr.Zero; // Garbage collection will free up this instance. */ diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 01966c0eff..cc28344ca5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -120,7 +120,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody); m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; - m_mapInfo.terrainBody.ApplyCollisionMask(); + m_mapInfo.terrainBody.ApplyCollisionMask(PhysicsScene); // Make it so the terrain will not move or be considered for movement. PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 590c68751f..2e9db39f73 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -143,7 +143,7 @@ public sealed class BSTerrainManager : IDisposable PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. m_groundPlane.collisionType = CollisionType.Groundplane; - m_groundPlane.ApplyCollisionMask(); + m_groundPlane.ApplyCollisionMask(PhysicsScene); // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 2f55fc39ac..1d55ce3f1a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -120,7 +120,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); // Static objects are not very massive. - BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); + PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero); // Put the new terrain to the world of physical objects PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody); @@ -129,7 +129,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody); m_terrainBody.collisionType = CollisionType.Terrain; - m_terrainBody.ApplyCollisionMask(); + m_terrainBody.ApplyCollisionMask(PhysicsScene); // Make it so the terrain will not move or be considered for movement. PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index c10d75e6cc..a0409281a8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -72,12 +72,12 @@ public class BulletBody public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } // Apply the specificed collision mask into the physical world - public bool ApplyCollisionMask() + public bool ApplyCollisionMask(BSScene physicsScene) { // Should assert the body has been added to the physical world. // (The collision masks are stored in the collision proxy cache which only exists for // a collision body that is in the world.) - return BulletSimAPI.SetCollisionGroupMask2(ptr, + return physicsScene.PE.SetCollisionGroupMask(this, BulletSimData.CollisionTypeMasks[collisionType].group, BulletSimData.CollisionTypeMasks[collisionType].mask); }