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BulletSim: add the beginnings of hull creation unit testing. 

Change how physics engine is created in unit tests to resolve a lib reference problem.
Add ShapeInfoInfo class to collect info about the created physical shape
   for debugging and unit test testing.
sedebug
Robert Adams 2014-12-31 12:48:26 -08:00
parent 291c7cdbcc
commit c89d0e26b2
5 changed files with 394 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -96,11 +96,9 @@ public class BSPrim : BSPhysObject
_isPhysical = pisPhysical; _isPhysical = pisPhysical;
_isVolumeDetect = false; _isVolumeDetect = false;
// Add a dynamic vehicle to our set of actors that can move this prim.
// PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName));
_mass = CalculateMass(); _mass = CalculateMass();
DetailLog("{0},BSPrim.constructor,pbs={1}", LocalID, BSScene.PrimitiveBaseShapeToString(pbs));
// DetailLog("{0},BSPrim.constructor,call", LocalID); // DetailLog("{0},BSPrim.constructor,call", LocalID);
// do the actual object creation at taint time // do the actual object creation at taint time
PhysScene.TaintedObject(LocalID, "BSPrim.create", delegate() PhysScene.TaintedObject(LocalID, "BSPrim.create", delegate()
@ -168,6 +166,7 @@ public class BSPrim : BSPhysObject
public override PrimitiveBaseShape Shape { public override PrimitiveBaseShape Shape {
set { set {
BaseShape = value; BaseShape = value;
DetailLog("{0},BSPrim.changeShape,pbs={1}", LocalID, BSScene.PrimitiveBaseShapeToString(BaseShape));
PrimAssetState = PrimAssetCondition.Unknown; PrimAssetState = PrimAssetCondition.Unknown;
ForceBodyShapeRebuild(false); ForceBodyShapeRebuild(false);
} }

67
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -947,6 +947,73 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
} }
#endregion // Extensions #endregion // Extensions
public static string PrimitiveBaseShapeToString(PrimitiveBaseShape pbs)
{
float pathShearX = pbs.PathShearX < 128 ? (float)pbs.PathShearX * 0.01f : (float)(pbs.PathShearX - 256) * 0.01f;
float pathShearY = pbs.PathShearY < 128 ? (float)pbs.PathShearY * 0.01f : (float)(pbs.PathShearY - 256) * 0.01f;
float pathBegin = (float)pbs.PathBegin * 2.0e-5f;
float pathEnd = 1.0f - (float)pbs.PathEnd * 2.0e-5f;
float pathScaleX = (float)(pbs.PathScaleX - 100) * 0.01f;
float pathScaleY = (float)(pbs.PathScaleY - 100) * 0.01f;
float profileBegin = (float)pbs.ProfileBegin * 2.0e-5f;
float profileEnd = 1.0f - (float)pbs.ProfileEnd * 2.0e-5f;
float profileHollow = (float)pbs.ProfileHollow * 2.0e-5f;
if (profileHollow > 0.95f)
profileHollow = 0.95f;
StringBuilder buff = new StringBuilder();
buff.Append("shape=");
buff.Append(((ProfileShape)pbs.ProfileShape).ToString());
buff.Append(",");
buff.Append("hollow=");
buff.Append(((HollowShape)pbs.HollowShape).ToString());
buff.Append(",");
buff.Append("pathCurve=");
buff.Append(((Extrusion)pbs.PathCurve).ToString());
buff.Append(",");
buff.Append("profCurve=");
buff.Append(((Extrusion)pbs.ProfileCurve).ToString());
buff.Append(",");
buff.Append("profHollow=");
buff.Append(profileHollow.ToString());
buff.Append(",");
buff.Append("pathBegEnd=");
buff.Append(pathBegin.ToString());
buff.Append("/");
buff.Append(pathEnd.ToString());
buff.Append(",");
buff.Append("profileBegEnd=");
buff.Append(profileBegin.ToString());
buff.Append("/");
buff.Append(profileEnd.ToString());
buff.Append(",");
buff.Append("scaleXY=");
buff.Append(pathScaleX.ToString());
buff.Append("/");
buff.Append(pathScaleY.ToString());
buff.Append(",");
buff.Append("shearXY=");
buff.Append(pathShearX.ToString());
buff.Append("/");
buff.Append(pathShearY.ToString());
buff.Append(",");
buff.Append("taperXY=");
buff.Append(pbs.PathTaperX.ToString());
buff.Append("/");
buff.Append(pbs.PathTaperY.ToString());
buff.Append(",");
buff.Append("skew=");
buff.Append(pbs.PathSkew.ToString());
buff.Append(",");
buff.Append("twist/Beg=");
buff.Append(pbs.PathTwist.ToString());
buff.Append("/");
buff.Append(pbs.PathTwistBegin.ToString());
return buff.ToString();
}
#region Taints #region Taints
// The simulation execution order is: // The simulation execution order is:
// Simulate() // Simulate()

111
OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
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@ -38,6 +38,76 @@ using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin namespace OpenSim.Region.Physics.BulletSPlugin
{ {
// Information class that holds stats for the shape. Which values mean
// something depends on the type of shape.
// This information is used for debugging and stats and is not used
// for operational things.
public class ShapeInfoInfo
{
public int Vertices { get; set; }
private int m_hullCount;
private int[] m_verticesPerHull;
public ShapeInfoInfo()
{
Vertices = 0;
m_hullCount = 0;
m_verticesPerHull = null;
}
public int HullCount
{
set
{
m_hullCount = value;
m_verticesPerHull = new int[m_hullCount];
Array.Clear(m_verticesPerHull, 0, m_hullCount);
}
get { return m_hullCount; }
}
public void SetVerticesPerHull(int hullNum, int vertices)
{
if (m_verticesPerHull != null && hullNum < m_verticesPerHull.Length)
{
m_verticesPerHull[hullNum] = vertices;
}
}
public int GetVerticesPerHull(int hullNum)
{
if (m_verticesPerHull != null && hullNum < m_verticesPerHull.Length)
{
return m_verticesPerHull[hullNum];
}
return 0;
}
public override string ToString()
{
StringBuilder buff = new StringBuilder();
// buff.Append("ShapeInfo=<");
buff.Append("<");
if (Vertices > 0)
{
buff.Append("verts=");
buff.Append(Vertices.ToString());
}
if (Vertices > 0 && HullCount > 0) buff.Append(",");
if (HullCount > 0)
{
buff.Append("nHulls=");
buff.Append(HullCount.ToString());
buff.Append(",");
buff.Append("hullVerts=");
for (int ii = 0; ii < HullCount; ii++)
{
if (ii != 0) buff.Append(",");
buff.Append(GetVerticesPerHull(ii).ToString());
}
}
buff.Append(">");
return buff.ToString();
}
}
public abstract class BSShape public abstract class BSShape
{ {
private static string LogHeader = "[BULLETSIM SHAPE]"; private static string LogHeader = "[BULLETSIM SHAPE]";
@ -45,18 +115,21 @@ public abstract class BSShape
public int referenceCount { get; set; } public int referenceCount { get; set; }
public DateTime lastReferenced { get; set; } public DateTime lastReferenced { get; set; }
public BulletShape physShapeInfo { get; set; } public BulletShape physShapeInfo { get; set; }
public ShapeInfoInfo shapeInfo { get; private set; }
public BSShape() public BSShape()
{ {
referenceCount = 1; referenceCount = 1;
lastReferenced = DateTime.Now; lastReferenced = DateTime.Now;
physShapeInfo = new BulletShape(); physShapeInfo = new BulletShape();
shapeInfo = new ShapeInfoInfo();
} }
public BSShape(BulletShape pShape) public BSShape(BulletShape pShape)
{ {
referenceCount = 1; referenceCount = 1;
lastReferenced = DateTime.Now; lastReferenced = DateTime.Now;
physShapeInfo = pShape; physShapeInfo = pShape;
shapeInfo = new ShapeInfoInfo();
} }
// Get another reference to this shape. // Get another reference to this shape.
@ -283,6 +356,9 @@ public class BSShapeNull : BSShape
} }
// ============================================================================================================ // ============================================================================================================
// BSShapeNative is a wrapper for a Bullet 'native' shape -- cube and sphere.
// They are odd in that they don't allocate meshes but are computated/procedural.
// This means allocation and freeing is different than meshes.
public class BSShapeNative : BSShape public class BSShapeNative : BSShape
{ {
private static string LogHeader = "[BULLETSIM SHAPE NATIVE]"; private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
@ -361,6 +437,7 @@ public class BSShapeNative : BSShape
} }
// ============================================================================================================ // ============================================================================================================
// BSShapeMesh is a simple mesh.
public class BSShapeMesh : BSShape public class BSShapeMesh : BSShape
{ {
private static string LogHeader = "[BULLETSIM SHAPE MESH]"; private static string LogHeader = "[BULLETSIM SHAPE MESH]";
@ -457,7 +534,11 @@ public class BSShapeMesh : BSShape
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{ {
return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod, return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
(w, iC, i, vC, v) => physicsScene.PE.CreateMeshShape(w, iC, i, vC, v) ); (w, iC, i, vC, v) =>
{
shapeInfo.Vertices = vC;
return physicsScene.PE.CreateMeshShape(w, iC, i, vC, v);
});
} }
// Code that uses the mesher to create the index/vertices info for a trimesh shape. // Code that uses the mesher to create the index/vertices info for a trimesh shape.
@ -545,6 +626,9 @@ public class BSShapeMesh : BSShape
} }
// ============================================================================================================ // ============================================================================================================
// BSShapeHull is a physical shape representation htat is made up of many convex hulls.
// The convex hulls are either supplied with the asset or are approximated by one of the
// convex hull creation routines (in OpenSim or in Bullet).
public class BSShapeHull : BSShape public class BSShapeHull : BSShape
{ {
#pragma warning disable 414 #pragma warning disable 414
@ -553,6 +637,7 @@ public class BSShapeHull : BSShape
public static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>(); public static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
public BSShapeHull(BulletShape pShape) : base(pShape) public BSShapeHull(BulletShape pShape) : base(pShape)
{ {
} }
@ -615,6 +700,7 @@ public class BSShapeHull : BSShape
// TODO: schedule aging and destruction of unused meshes. // TODO: schedule aging and destruction of unused meshes.
} }
} }
List<ConvexResult> m_hulls; List<ConvexResult> m_hulls;
private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey, private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
@ -647,6 +733,7 @@ public class BSShapeHull : BSShape
if (allHulls != null && BSParam.ShouldUseAssetHulls) if (allHulls != null && BSParam.ShouldUseAssetHulls)
{ {
int hullCount = allHulls.Count; int hullCount = allHulls.Count;
shapeInfo.HullCount = hullCount;
int totalVertices = 1; // include one for the count of the hulls int totalVertices = 1; // include one for the count of the hulls
// Using the structure described for HACD hulls, create the memory sturcture // Using the structure described for HACD hulls, create the memory sturcture
// to pass the hull data to the creater. // to pass the hull data to the creater.
@ -659,6 +746,7 @@ public class BSShapeHull : BSShape
convHulls[0] = (float)hullCount; convHulls[0] = (float)hullCount;
int jj = 1; int jj = 1;
int hullIndex = 0;
foreach (List<OMV.Vector3> hullVerts in allHulls) foreach (List<OMV.Vector3> hullVerts in allHulls)
{ {
convHulls[jj + 0] = hullVerts.Count; convHulls[jj + 0] = hullVerts.Count;
@ -673,6 +761,8 @@ public class BSShapeHull : BSShape
convHulls[jj + 2] = oneVert.Z; convHulls[jj + 2] = oneVert.Z;
jj += 3; jj += 3;
} }
shapeInfo.SetVerticesPerHull(hullIndex, hullVerts.Count);
hullIndex++;
} }
// create the hull data structure in Bullet // create the hull data structure in Bullet
@ -708,6 +798,10 @@ public class BSShapeHull : BSShape
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID, newShape); physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID, newShape);
// Now done with the mesh shape. // Now done with the mesh shape.
shapeInfo.HullCount = 1;
BSShapeMesh maybeMesh = meshShape as BSShapeMesh;
if (maybeMesh != null)
shapeInfo.SetVerticesPerHull(0, maybeMesh.shapeInfo.Vertices);
meshShape.Dereference(physicsScene); meshShape.Dereference(physicsScene);
} }
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
@ -857,6 +951,8 @@ public class BSShapeHull : BSShape
} }
// ============================================================================================================ // ============================================================================================================
// BSShapeCompound is a wrapper for the Bullet compound shape which is built from multiple, separate
// meshes. Used by BulletSim for complex shapes like linksets.
public class BSShapeCompound : BSShape public class BSShapeCompound : BSShape
{ {
private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
@ -999,6 +1095,9 @@ public class BSShapeCompound : BSShape
} }
// ============================================================================================================ // ============================================================================================================
// BSShapeConvexHull is a wrapper for a Bullet single convex hull. A BSShapeHull contains multiple convex
// hull shapes. This is used for simple prims that are convex and thus can be made into a simple
// collision shape (a single hull). More complex physical shapes will be BSShapeHull's.
public class BSShapeConvexHull : BSShape public class BSShapeConvexHull : BSShape
{ {
#pragma warning disable 414 #pragma warning disable 414
@ -1098,6 +1197,9 @@ public class BSShapeConvexHull : BSShape
} }
} }
// ============================================================================================================ // ============================================================================================================
// BSShapeGImpact is a wrapper for the Bullet GImpact shape which is a collision mesh shape that
// can handle concave as well as convex shapes. Much slower computationally but creates smoother
// shapes than multiple convex hull approximations.
public class BSShapeGImpact : BSShape public class BSShapeGImpact : BSShape
{ {
#pragma warning disable 414 #pragma warning disable 414
@ -1151,7 +1253,11 @@ public class BSShapeGImpact : BSShape
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{ {
return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod, return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
(w, iC, i, vC, v) => physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v) ); (w, iC, i, vC, v) =>
{
shapeInfo.Vertices = vC;
return physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v);
});
} }
public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
@ -1206,6 +1312,7 @@ public class BSShapeGImpact : BSShape
} }
// ============================================================================================================ // ============================================================================================================
// BSShapeAvatar is a specialized mesh shape for avatars.
public class BSShapeAvatar : BSShape public class BSShapeAvatar : BSShape
{ {
#pragma warning disable 414 #pragma warning disable 414

19
OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
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@ -28,15 +28,16 @@
using System; using System;
using System.IO; using System.IO;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq;
using System.Text; using System.Text;
using Nini.Config; using Nini.Config;
using OpenSim.Framework; using OpenSim.Framework;
using OpenSim.Region.Physics.BulletSPlugin; using OpenSim.Region.Physics.Manager;
using OpenSim.Region.Physics.Meshing; using OpenSim.Region.Physics.Meshing;
using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin.Tests namespace OpenSim.Region.Physics.BulletSPlugin.Tests
{ {
// Utility functions for building up and tearing down the sample physics environments // Utility functions for building up and tearing down the sample physics environments
@ -77,17 +78,21 @@ public static class BulletSimTestsUtil
bulletSimConfig.Set("VehicleLoggingEnabled","True"); bulletSimConfig.Set("VehicleLoggingEnabled","True");
} }
BSPlugin bsPlugin = new BSPlugin(); PhysicsPluginManager physicsPluginManager;
physicsPluginManager = new PhysicsPluginManager();
physicsPluginManager.LoadPluginsFromAssemblies("Physics");
BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion"); Vector3 regionExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
PhysicsScene pScene = physicsPluginManager.GetPhysicsScene(
"BulletSim", "Meshmerizer", openSimINI, "BSTestRegion", regionExtent);
BSScene bsScene = pScene as BSScene;
// Since the asset requestor is not initialized, any mesh or sculptie will be a cube. // Since the asset requestor is not initialized, any mesh or sculptie will be a cube.
// In the future, add a fake asset fetcher to get meshes and sculpts. // In the future, add a fake asset fetcher to get meshes and sculpts.
// bsScene.RequestAssetMethod = ???; // bsScene.RequestAssetMethod = ???;
Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI);
bsScene.Initialise(mesher, openSimINI);
return bsScene; return bsScene;
} }

204
OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs Normal file
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@ -0,0 +1,204 @@
/*
* 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.Linq;
using System.Text;
using NUnit.Framework;
using log4net;
using OpenSim.Framework;
using OpenSim.Region.Physics.BulletSPlugin;
using OpenSim.Region.Physics.Manager;
using OpenSim.Tests.Common;
using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin.Tests
{
[TestFixture]
public class HullCreation : OpenSimTestCase
{
// Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
// Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
BSScene PhysicsScene { get; set; }
Vector3 ObjectInitPosition;
float simulationTimeStep = 0.089f;
[TestFixtureSetUp]
public void Init()
{
}
[TestFixtureTearDown]
public void TearDown()
{
if (PhysicsScene != null)
{
// The Dispose() will also free any physical objects in the scene
PhysicsScene.Dispose();
PhysicsScene = null;
}
}
[TestCase(7, 2, 5f, 5f, 32, 0f)] /* default hull parameters */
public void GeomHullConvexDecomp( int maxDepthSplit,
int maxDepthSplitForSimpleShapes,
float concavityThresholdPercent,
float volumeConservationThresholdPercent,
int maxVertices,
float maxSkinWidth)
{
// Setup the physics engine to use the C# version of convex decomp
Dictionary<string, string> engineParams = new Dictionary<string, string>();
engineParams.Add("MeshSculptedPrim", "true"); // ShouldMeshSculptedPrim
engineParams.Add("ForceSimplePrimMeshing", "false"); // ShouldForceSimplePrimMeshing
engineParams.Add("UseHullsForPhysicalObjects", "true"); // ShouldUseHullsForPhysicalObjects
engineParams.Add("ShouldRemoveZeroWidthTriangles", "true");
engineParams.Add("ShouldUseBulletHACD", "false");
engineParams.Add("ShouldUseSingleConvexHullForPrims", "true");
engineParams.Add("ShouldUseGImpactShapeForPrims", "false");
engineParams.Add("ShouldUseAssetHulls", "true");
engineParams.Add("CSHullMaxDepthSplit", maxDepthSplit.ToString());
engineParams.Add("CSHullMaxDepthSplitForSimpleShapes", maxDepthSplitForSimpleShapes.ToString());
engineParams.Add("CSHullConcavityThresholdPercent", concavityThresholdPercent.ToString());
engineParams.Add("CSHullVolumeConservationThresholdPercent", volumeConservationThresholdPercent.ToString());
engineParams.Add("CSHullMaxVertices", maxVertices.ToString());
engineParams.Add("CSHullMaxSkinWidth", maxSkinWidth.ToString());
PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
PrimitiveBaseShape pbs;
Vector3 pos;
Vector3 size;
Quaternion rot;
bool isPhys;
// Cylinder
pbs = PrimitiveBaseShape.CreateCylinder();
pos = new Vector3(100.0f, 100.0f, 0f);
pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
ObjectInitPosition = pos;
size = new Vector3(2f, 2f, 2f);
pbs.Scale = size;
rot = Quaternion.Identity;
isPhys = true;
uint cylinderLocalID = 123;
PhysicsScene.AddPrimShape("testCylinder", pbs, pos, size, rot, isPhys, cylinderLocalID);
BSPrim primTypeCylinder = (BSPrim)PhysicsScene.PhysObjects[cylinderLocalID];
// Hollow Cylinder
pbs = PrimitiveBaseShape.CreateCylinder();
pbs.ProfileHollow = (ushort)(0.70f * 50000);
pos = new Vector3(110.0f, 110.0f, 0f);
pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
ObjectInitPosition = pos;
size = new Vector3(2f, 2f, 2f);
pbs.Scale = size;
rot = Quaternion.Identity;
isPhys = true;
uint hollowCylinderLocalID = 124;
PhysicsScene.AddPrimShape("testHollowCylinder", pbs, pos, size, rot, isPhys, hollowCylinderLocalID);
BSPrim primTypeHollowCylinder = (BSPrim)PhysicsScene.PhysObjects[hollowCylinderLocalID];
// Torus
// ProfileCurve = Circle, PathCurve = Curve1
pbs = PrimitiveBaseShape.CreateSphere();
pbs.ProfileShape = (byte)ProfileShape.Circle;
pbs.PathCurve = (byte)Extrusion.Curve1;
pos = new Vector3(120.0f, 120.0f, 0f);
pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
ObjectInitPosition = pos;
size = new Vector3(2f, 4f, 4f);
pbs.Scale = size;
rot = Quaternion.Identity;
isPhys = true;
uint torusLocalID = 125;
PhysicsScene.AddPrimShape("testTorus", pbs, pos, size, rot, isPhys, torusLocalID);
BSPrim primTypeTorus = (BSPrim)PhysicsScene.PhysObjects[torusLocalID];
// The actual prim shape creation happens at taint time
PhysicsScene.ProcessTaints();
// Check out the created hull shapes and report their characteristics
ReportShapeGeom(primTypeCylinder);
ReportShapeGeom(primTypeHollowCylinder);
ReportShapeGeom(primTypeTorus);
}
[TestCase]
public void GeomHullBulletHACD()
{
// Cylinder
// Hollow Cylinder
// Torus
}
private void ReportShapeGeom(BSPrim prim)
{
if (prim != null)
{
if (prim.PhysShape.HasPhysicalShape)
{
BSShape physShape = prim.PhysShape;
string shapeType = physShape.GetType().ToString();
switch (shapeType)
{
case "OpenSim.Region.Physics.BulletSPlugin.BSShapeNative":
BSShapeNative nShape = physShape as BSShapeNative;
prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
break;
case "OpenSim.Region.Physics.BulletSPlugin.BSShapeMesh":
BSShapeMesh mShape = physShape as BSShapeMesh;
prim.PhysScene.DetailLog("{0}, mesh, shapeInfo={1}", prim.Name, mShape.shapeInfo);
break;
case "OpenSim.Region.Physics.BulletSPlugin.BSShapeHull":
BSShapeHull hShape = physShape as BSShapeHull;
prim.PhysScene.DetailLog("{0}, hull, shapeInfo={1}", prim.Name, hShape.shapeInfo);
break;
case "OpenSim.Region.Physics.BulletSPlugin.BSShapeConvexHull":
BSShapeConvexHull chShape = physShape as BSShapeConvexHull;
prim.PhysScene.DetailLog("{0}, convexHull, shapeInfo={1}", prim.Name, chShape.shapeInfo);
break;
case "OpenSim.Region.Physics.BulletSPlugin.BSShapeCompound":
BSShapeCompound cShape = physShape as BSShapeCompound;
prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
break;
default:
prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
break;
}
}
}
}
}
}