Pass collisions and updates in pinned memory (saves marshaling).
Fix folding feet by using collision normals. Add constraint specification.bulletsim
Dan Lake
parent
4cbc912375
commit
fa696c2eb2
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@ -185,7 +185,7 @@ public class BSCharacter : PhysicsActor
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get { return _force; }
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set {
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_force = value;
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m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
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// m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
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_scene.TaintedObject(delegate()
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{
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BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
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@ -411,8 +411,9 @@ public class BSCharacter : PhysicsActor
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_collidingGroundStep = _scene.SimulationStep;
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}
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// throttle collisions to the rate specified in the subscription
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if (_subscribedEventsMs == 0) return; // don't want collisions
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int nowTime = Util.EnvironmentTickCount();
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int nowTime = _scene.SimulationNowTime;
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if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return;
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_lastCollisionTime = nowTime;
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@ -261,6 +261,7 @@ public sealed class BSPrim : PhysicsActor
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{
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if (_childrenPrims.Contains(child))
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{
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BulletSimAPI.RemoveConstraint(_scene.WorldID, child.LocalID, this.LocalID);
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_childrenPrims.Remove(child);
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child.ParentPrim = null; // the child has lost its parent
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RecreateGeomAndObject(); // rebuild my shape with the child removed
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@ -1018,47 +1019,8 @@ public sealed class BSPrim : PhysicsActor
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if (IsRootOfLinkset)
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{
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// Create a linkset around this object
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/*
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* NOTE: the original way of creating a linkset was to create a compound hull in the
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* root which consisted of the hulls of all the children. This didn't work well because
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* OpenSimulator needs updates and collisions for all the children and the physics
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* engine didn't create events for the children when the root hull was moved.
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* This code creates the compound hull.
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// If I am the root prim of a linkset, replace my physical shape with all the
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// pieces of the children.
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// All of the children should have called CreateGeom so they have a hull
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// in the physics engine already. Here we pull together all of those hulls
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// into one shape.
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int totalPrimsInLinkset = _childrenPrims.Count + 1;
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// m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset);
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ShapeData[] shapes = new ShapeData[totalPrimsInLinkset];
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FillShapeInfo(out shapes[0]);
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int ii = 1;
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foreach (BSPrim prim in _childrenPrims)
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{
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// m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID);
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prim.FillShapeInfo(out shapes[ii]);
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ii++;
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}
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BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes);
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*/
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// Create the linkset by putting constraints between the objects of the set so they cannot move
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// relative to each other.
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// m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1);
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// remove any constraints that might be in place
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foreach (BSPrim prim in _childrenPrims)
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{
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BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID);
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}
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// create constraints between the root prim and each of the children
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foreach (BSPrim prim in _childrenPrims)
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{
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// this is a constraint that allows no freedom of movement between the two objects
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// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
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BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, OMV.Vector3.Zero, OMV.Vector3.Zero,
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OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero);
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}
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CreateLinksetWithCompoundHull();
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// CreateLinksetWithConstraints();
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}
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else
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{
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@ -1070,6 +1032,73 @@ public sealed class BSPrim : PhysicsActor
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}
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}
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// Create a linkset by creating a compound hull at the root prim that consists of all
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// the children.
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void CreateLinksetWithCompoundHull()
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{
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// If I am the root prim of a linkset, replace my physical shape with all the
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// pieces of the children.
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// All of the children should have called CreateGeom so they have a hull
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// in the physics engine already. Here we pull together all of those hulls
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// into one shape.
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int totalPrimsInLinkset = _childrenPrims.Count + 1;
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// m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset);
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ShapeData[] shapes = new ShapeData[totalPrimsInLinkset];
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FillShapeInfo(out shapes[0]);
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int ii = 1;
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foreach (BSPrim prim in _childrenPrims)
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{
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// m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID);
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prim.FillShapeInfo(out shapes[ii]);
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ii++;
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}
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BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes);
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}
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// Create the linkset by putting constraints between the objects of the set so they cannot move
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// relative to each other.
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void CreateLinksetWithConstraints()
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{
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// m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1);
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// remove any constraints that might be in place
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foreach (BSPrim prim in _childrenPrims)
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{
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// m_log.DebugFormat("{0}: CreateObject: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
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BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID);
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}
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// create constraints between the root prim and each of the children
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foreach (BSPrim prim in _childrenPrims)
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{
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// this is a constraint that allows no freedom of movement between the two objects
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// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
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// m_log.DebugFormat("{0}: CreateObject: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
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// relative position normalized to the root prim
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OMV.Vector3 childRelativePosition = (prim._position - this._position) * OMV.Quaternion.Inverse(this._orientation);
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// OMV.Quaternion relativeRotation = OMV.Quaternion.Identity;
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// rotation is pointing up the vector between the object centers
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OMV.Quaternion relativeRotation = OMV.Quaternion.CreateFromAxisAngle(childRelativePosition, 0f);
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/* // the logic for relative rotation from http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6391
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OMV.Vector3 rrn = childRelativePosition;
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rrn.Normalize();
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rrn /= rrn.X;
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OMV.Matrix4 rotmat = new OMV.Matrix4(rrn.X, rrn.Y, rrn.Z, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
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OMV.Quaternion relativeRotation = OMV.Quaternion.CreateFromRotationMatrix(rotmat);
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*/
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BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID,
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childRelativePosition / 2,
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relativeRotation,
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-childRelativePosition / 2,
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relativeRotation,
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OMV.Vector3.Zero, OMV.Vector3.Zero,
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OMV.Vector3.Zero, OMV.Vector3.Zero);
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}
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}
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// Copy prim's info into the BulletSim shape description structure
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public void FillShapeInfo(out ShapeData shape)
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{
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@ -1118,50 +1147,53 @@ public sealed class BSPrim : PhysicsActor
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// The physics engine says that properties have updated. Update same and inform
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// the world that things have changed.
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// TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
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private int UpPropPosition = 1 << 0;
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private int UpPropRotation = 1 << 1;
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private int UpPropVelocity = 1 << 2;
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private int UpPropAcceleration = 1 << 3;
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private int UpPropAngularVel = 1 << 4;
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enum UpdatedProperties {
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Position = 1 << 0,
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Rotation = 1 << 1,
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Velocity = 1 << 2,
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Acceleration = 1 << 3,
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AngularVel = 1 << 4
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}
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public void UpdateProperties(EntityProperties entprop)
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{
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int changed = 0;
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UpdatedProperties changed = 0;
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// assign to the local variables so the normal set action does not happen
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if (_position != entprop.Position)
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{
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_position = entprop.Position;
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// m_log.DebugFormat("{0}: UpdateProperties: position = {1}", LogHeader, _position);
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changed |= UpPropPosition;
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changed |= UpdatedProperties.Position;
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}
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if (_orientation != entprop.Rotation)
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{
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_orientation = entprop.Rotation;
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// m_log.DebugFormat("{0}: UpdateProperties: rotation = {1}", LogHeader, _orientation);
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changed |= UpPropRotation;
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changed |= UpdatedProperties.Rotation;
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}
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if (_velocity != entprop.Velocity)
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{
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_velocity = entprop.Velocity;
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// m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity);
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changed |= UpPropVelocity;
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changed |= UpdatedProperties.Velocity;
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}
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if (_acceleration != entprop.Acceleration)
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{
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_acceleration = entprop.Acceleration;
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// m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration);
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changed |= UpPropAcceleration;
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changed |= UpdatedProperties.Acceleration;
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}
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if (_rotationalVelocity != entprop.AngularVelocity)
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{
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_rotationalVelocity = entprop.AngularVelocity;
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// m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity);
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changed |= UpPropAngularVel;
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changed |= UpdatedProperties.AngularVel;
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}
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if (changed != 0)
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{
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// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
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base.RequestPhysicsterseUpdate();
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if (this._parentPrim == null)
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base.RequestPhysicsterseUpdate();
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}
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}
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@ -1178,7 +1210,7 @@ public sealed class BSPrim : PhysicsActor
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if (_subscribedEventsMs == 0) return; // nothing in the object is waiting for collision events
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// throttle the collisions to the number of milliseconds specified in the subscription
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int nowTime = Util.EnvironmentTickCount();
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int nowTime = _scene.SimulationNowTime;
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if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return;
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_lastCollisionTime = nowTime;
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@ -38,9 +38,7 @@ using OpenSim.Region.Framework;
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// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
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// Fix folding up feet
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// Fix terrain. Only flat terrain works. Terrain with shape is oriented wrong? Origined wrong?
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// Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ...
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// Shift drag duplication of objects does not work
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// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
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// Test sculpties
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// Compute physics FPS reasonably
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@ -82,6 +80,19 @@ public class BSScene : PhysicsScene
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private long m_simulationStep = 0;
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public long SimulationStep { get { return m_simulationStep; } }
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// A value of the time now so all the collision and update routines do not have to get their own
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// Set to 'now' just before all the prims and actors are called for collisions and updates
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private int m_simulationNowTime;
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public int SimulationNowTime { get { return m_simulationNowTime; } }
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private int m_maxCollisionsPerFrame = 2048;
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private CollisionDesc[] m_collisionArray;
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private GCHandle m_collisionArrayPinnedHandle;
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private int m_maxUpdatesPerFrame = 2048;
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private EntityProperties[] m_updateArray;
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private GCHandle m_updateArrayPinnedHandle;
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private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed
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private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes
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public float maximumMassObject = 10000.01f;
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@ -129,8 +140,19 @@ public class BSScene : PhysicsScene
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_taintedObjects = new List<TaintCallback>();
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mesher = meshmerizer;
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// The bounding box for the simulated world
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Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f);
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// Allocate pinned memory to pass back object property updates and collisions from simulation step
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m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
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m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
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m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
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m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
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// m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
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m_worldID = BulletSimAPI.Initialize(new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f));
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m_worldID = BulletSimAPI.Initialize(worldExtent,
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m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
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m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject());
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}
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// Called directly from unmanaged code so don't do much
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@ -188,19 +210,7 @@ public class BSScene : PhysicsScene
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}
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public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
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Vector3 size, Quaternion rotation) // deprecated
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{
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return null;
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}
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public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
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Vector3 size, Quaternion rotation, bool isPhysical)
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{
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m_log.ErrorFormat("{0}: CALL TO AddPrimShape in BSScene. NOT IMPLEMENTED", LogHeader);
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return null;
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}
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public override PhysicsActor AddPrimShape(uint localID, string primName, PrimitiveBaseShape pbs, Vector3 position,
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Vector3 size, Quaternion rotation, bool isPhysical)
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Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
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{
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// m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
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IMesh mesh = null;
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@ -225,10 +235,8 @@ public class BSScene : PhysicsScene
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{
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int updatedEntityCount;
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IntPtr updatedEntitiesPtr;
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IntPtr[] updatedEntities;
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int collidersCount;
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IntPtr collidersPtr;
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int[] colliders; // should be uint but Marshal.Copy does not have that overload
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// update the prim states while we know the physics engine is not busy
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ProcessTaints();
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@ -242,32 +250,33 @@ public class BSScene : PhysicsScene
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int numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
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out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
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// if there were collisions, they show up here
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// Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
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// Get a value for 'now' so all the collision and update routines don't have to get their own
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m_simulationNowTime = Util.EnvironmentTickCount();
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// If there were collisions, process them by sending the event to the prim.
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// Collisions must be processed before updates.
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if (collidersCount > 0)
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{
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colliders = new int[collidersCount];
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Marshal.Copy(collidersPtr, colliders, 0, collidersCount);
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for (int ii = 0; ii < collidersCount; ii+=2)
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for (int ii = 0; ii < collidersCount; ii++)
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{
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uint cA = (uint)colliders[ii];
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uint cB = (uint)colliders[ii+1];
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SendCollision(cA, cB);
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SendCollision(cB, cA);
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uint cA = m_collisionArray[ii].aID;
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uint cB = m_collisionArray[ii].bID;
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Vector3 point = m_collisionArray[ii].point;
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Vector3 normal = m_collisionArray[ii].normal;
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SendCollision(cA, cB, point, normal, 0.01f);
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SendCollision(cB, cA, point, -normal, 0.01f);
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}
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}
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// if any of the objects had updated properties, they are returned in the updatedEntity structure
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// TODO: figure out how to pass all of the EntityProperties structures in one marshal call.
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// If any of the objects had updated properties, tell the object it has been changed by the physics engine
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if (updatedEntityCount > 0)
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{
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updatedEntities = new IntPtr[updatedEntityCount];
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// fetch all the pointers to all the EntityProperties structures for these updates
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Marshal.Copy(updatedEntitiesPtr, updatedEntities, 0, updatedEntityCount);
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for (int ii = 0; ii < updatedEntityCount; ii++)
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{
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IntPtr updatePointer = updatedEntities[ii];
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EntityProperties entprop = (EntityProperties)Marshal.PtrToStructure(updatePointer, typeof(EntityProperties));
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// m_log.DebugFormat("{0}: entprop: id={1}, pos={2}", LogHeader, entprop.ID, entprop.Position);
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EntityProperties entprop = m_updateArray[ii];
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// m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
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BSCharacter actor;
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if (m_avatars.TryGetValue(entprop.ID, out actor))
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{
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@ -282,12 +291,12 @@ public class BSScene : PhysicsScene
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}
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}
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// fps calculation wrong. This calculation returns about 1 in normal operation.
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// fps calculation wrong. This calculation always returns about 1 in normal operation.
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return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f;
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}
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// Something has collided
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private void SendCollision(uint localID, uint collidingWith)
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private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penitration)
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{
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if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID)
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{
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@ -303,12 +312,12 @@ public class BSScene : PhysicsScene
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BSPrim prim;
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if (m_prims.TryGetValue(localID, out prim)) {
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prim.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f);
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prim.Collide(collidingWith, type, collidePoint, collideNormal, 0.01f);
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return;
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}
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BSCharacter actor;
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if (m_avatars.TryGetValue(localID, out actor)) {
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actor.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f);
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actor.Collide(collidingWith, type, collidePoint, collideNormal, 0.01f);
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return;
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}
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return;
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@ -317,7 +326,6 @@ public class BSScene : PhysicsScene
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public override void GetResults() { }
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public override void SetTerrain(float[] heightMap) {
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m_log.DebugFormat("{0}: SetTerrain", LogHeader);
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m_heightMap = heightMap;
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||||
this.TaintedObject(delegate()
|
||||
{
|
||||
|
|
|
|||
|
|
@ -78,7 +78,13 @@ public struct RaycastHit
|
|||
public float Fraction;
|
||||
public Vector3 Normal;
|
||||
}
|
||||
|
||||
public struct CollisionDesc
|
||||
{
|
||||
public uint aID;
|
||||
public uint bID;
|
||||
public Vector3 point;
|
||||
public Vector3 normal;
|
||||
}
|
||||
public struct EntityProperties
|
||||
{
|
||||
public uint ID;
|
||||
|
|
@ -92,7 +98,8 @@ public struct EntityProperties
|
|||
static class BulletSimAPI {
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern uint Initialize(Vector3 maxPosition);
|
||||
public static extern uint Initialize(Vector3 maxPosition, int maxCollisions, IntPtr collisionArray,
|
||||
int maxUpdates, IntPtr updateArray);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
|
||||
|
|
@ -124,7 +131,12 @@ public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData
|
|||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void AddConstraint(uint worldID, uint id1, uint id2,
|
||||
Vector3 frame1, Vector3 frame2, Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
|
||||
Vector3 frame1, Quaternion frame1rot,
|
||||
Vector3 frame2, Quaternion frame2rot,
|
||||
Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool RemoveConstraintByID(uint worldID, uint id1);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
|
||||
|
|
|
|||
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|
|
@ -0,0 +1,6 @@
|
|||
<configuration>
|
||||
<dllmap os="windows" cpu="x86" dll="BulletSim" target="BulletSim" />
|
||||
<dllmap os="windows" cpu="x86-64,ia64" dll="BulletSim" target="BulletSim-x86_64" />
|
||||
<dllmap os="!windows,osx" cpu="x86" dll="BulletSim" target="libBulletSim" />
|
||||
<dllmap os="!windows,osx" cpu="x86-64,ia64" dll="BulletSim" target="libBulletSim-x86_64" />
|
||||
</configuration>
|
||||
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Loading…
Reference in New Issue