Copied BulletSNPlugin.BulletSimAPI to a new
BulletSPlugin.BSAPIXNA.cs and then modifyed the latter to
comply with the BSAPITemplate definition. Not totally debugged
but the code is all there for an INI variable to select either
unmanaged C++ Bullet or the C# version of Bullet.
Properly return root mass as mass of just the root prim rather
than the mass of the linkset. SOG has the logic to add the masses
together to get the linkset mass.
Update TODO list.
for the operation of BulletSim and those defintiions/structures defined
so they can be used in the unmanaged world.
Consolidate setting of collision flags so implementation is not scattered.
While fixing the above, add methods to physical body and shape pointer
wrapper so routines won't have to know that IntPtr.Zero means no
physical instance.
Fix problem with physical linksets failing after a few sits and
unsits by properly restoring child prom positions for compound
linksets after multiple selection and deselections.
static objects by more restrictive selection of objects that collide
with static objects.
Rename collision mask fuctions from 'filter' to 'group' so it is clear
what is being set.
Rename BulletSimAPI.SetCollisionFilterMask() to SetCollisionGroupMask to match above.
Restore passing of time step to linear and angular motion component routines.
Use buffering vehicle physical parameter get/set routines consistantly.
Make range enforcement clearer by using ClampInRange() function for parameter setting.
Remove commented out experimental vehicle calculations.
Simple attempt to make avatars better shaped.
Replace parameter 'avatarCapsuleRadius' with 'avatarCapsuleWidth'
and 'avatarCapsuleDepth'.
More tweeking to avatar height calculation. A little better but
short avatar's feet are above the terrain and tall avatar's feet
are a little below the ground.
Add compound shape creation and freeing in shape manager.
Add optional taint-time execution method and update code to use it.
Add API2 linkage for more compound shape methods (get num, get/remove by index, ...)
Modify perferred shape return so linkset children can have differet shapes than root.
Add Position and Orientation calls to linksets so children can be moved around by
the linkset by its own calculation. Allows for very general linkset implementations.
Add AddTorque() method to BSPrim. Remove some manual motor actions
in computing angular force (will eventually be replaced with motor class).
Remove some experimental changes.
Change character scaling to represent size of capsule (diameter rather than radius)
Modify create capsule call to pass radius and height.
Eliminate errors when calculating shape inertia (should have some type checking).
Add capsule shape to BSShapeCollection().
Remember last updated values so inter frame diffs can be computed.
Parameterize avatarStandingFriction and reduce to 10 from 999.
The latter high value made avatars very hard to push.
Set CCD parameters for prims and characters of specified.
Update BSDynamics to use same (don't want to delay updates til next taint-time.
Suppress queuing a taint update for position and orientation calls if value
does not change.
Move Bullet timing statistics call from C# back to C++ code.
Throttle taints per simulation step and add parameter to set.
By default, don't create hulls for physical objects. Add a
parameter to turn on and off.
Properly remove and restore linkage constraints when upgrading
a prim's mesh to a hull.
Lots more debug logging.
Definitions and use of Bullet structure dumping.
Centralize detail logging so a Flush() can be added for debugging.
Added callbacks for shape and body changes in GetBodyAndShape() so the linkset
constraints can be picked up and restored. A better design might be to have
a "prim shape changed" event. Think about that.
Added constraint types to general constraint class.
pointers at runtime and at taint-time. Now passes the body into the
taint.
Vehicles zero inertia when active to eliminate Bullet's contribution
to vehicle motion.
Static objects are set to ISLAND_SLEEPING rather than DISABLE_SIMULATION.
Might reconsider this and, alternatively, have dynamic objects force activation.
Clean up use of DetailLog().
Rearrangement and cleanup of shape collection code. Much more readable.
Enabling and use of collision filters and masks.
Addition of ID to body creation BulletSimAPI calls so always set in
shape for collision reporting.
Change default of ShouldSplitSimulationIslands and ShouldRandomizeSolverOrder
from 'false' to 'true'. When 'false', this suppresses NO_CONTACT_RESPONSE
which makes volume detect fail.
so the members case is consistant. Caused modifications everywhere.
New logic in BSShapeCollection to track use and sharing of shapes.
I just reslized, though, that shapes cannot be shared because the
shape's UserPointer is the localID of the prim and is required
for tracking collisions. More changes coming.
Added DuplicateCollisionShape2() to API and changed BuildNativeShape2
to take a ShapeData structure so don't have to pass so many parameters.
This matches the latest version of BulletSim.dll.
Additions and removal of DetailLog() statements for debugging.
Fix avatar height calculation to properly account for the capsule ends.
Rearrange some locking in TerrainManager to eliminate possible race conditions.
Move DetailLog() definition into common BSPhysObject class.
Some variable renaming to make usage clearer (refactor.rename makes this so easy).
and into the parent class BSPhysObject.
Rework collision logic to enable extra collision after done colliding.
Rename 'Scene' to 'PhysicsScene' to differentiate it from the simulator 'Scene'.
Fix collision code to properly sense mega-region children regions as terrain.
When setting an object physical, reset all the physical properties (friction, ...).
Many changes to BSDynamic for readability and commentary.
Linkset hacking for vehicles: don't over mass the root prim.
Add parameter for link constraint solver iterations.
Correct uses of timestep in timescale calculations for vehicles.
Reorganize code/logic for making objects static and dynamic for readability
and use of API2.
Changed most calls in BSPrim to use API2 calls (the new way).
Avatars do not generate default Bullet collision events but do call up
to the simulator for every avatar. Reduces overhead.
Objects added to collision list only if they are processing collisions.
Reduces overhead especially for large numbers of avatars.
Generalize call for water height to GetWaterHeightAtXYZ().
Catch and correct exception getting terrain height when out of bounds.
Correct race condition in Terrain Manager where creation wasn't at taint-time.
Add API calls for constructing compound shapes.
Move NeedsMeshing() logic into object class.
Reorganize logic for object meshing to reduce rebuilding of meshs/hulls.
'Body' to 'BSBody' for disambiguation when reading code.
Complete the API2 interface so nearly all methods on bullet
classes are available to the managed code. The efficient
single call simulation step is kept in place while all
other creation/destruction/parameterization can be done
in the managed code.
Moved all terrain code out of BSScene and into new BSTerrainManager.
Added logic to manage multiple terrains for mega-regions.
Added new functions to BulletSimAPI to match the library.
Moved all of the terrain creation and setup logic from C++ code to C# code.
The unused code has not yet been removed from either place. Soon.
Moved checks for avatar above ground and in bounds into BSCharacter.
no effect on non-logging running.
Capture region name that is passed to the physics engine and use
it for detail logging file name prefix.
Fix problem with avatars dropping when flying across region boundries.
Robert Adams