834 lines
37 KiB
C#
Executable File
834 lines
37 KiB
C#
Executable File
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OMV = OpenMetaverse;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using OpenSim.Region.Physics.ConvexDecompositionDotNet;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public sealed class BSShapeCollection : IDisposable
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{
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private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
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protected BSScene PhysicsScene { get; set; }
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private Object m_collectionActivityLock = new Object();
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// Description of a Mesh
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private struct MeshDesc
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{
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public IntPtr ptr;
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public int referenceCount;
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public DateTime lastReferenced;
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}
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// Description of a hull.
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// Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
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private struct HullDesc
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{
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public IntPtr ptr;
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public int referenceCount;
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public DateTime lastReferenced;
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}
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// The sharable set of meshes and hulls. Indexed by their shape hash.
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private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
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private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
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public BSShapeCollection(BSScene physScene)
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{
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PhysicsScene = physScene;
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}
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public void Dispose()
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{
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// TODO!!!!!!!!!
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}
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// Callbacks called just before either the body or shape is destroyed.
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// Mostly used for changing bodies out from under Linksets.
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// Useful for other cases where parameters need saving.
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// Passing 'null' says no callback.
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public delegate void ShapeDestructionCallback(BulletShape shape);
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public delegate void BodyDestructionCallback(BulletBody body);
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// Called to update/change the body and shape for an object.
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// First checks the shape and updates that if necessary then makes
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// sure the body is of the right type.
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// Return 'true' if either the body or the shape changed.
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// 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before
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// the current shape or body is destroyed. This allows the caller to remove any
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// higher level dependencies on the shape or body. Mostly used for LinkSets to
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// remove the physical constraints before the body is destroyed.
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// Called at taint-time!!
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public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim,
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ShapeData shapeData, PrimitiveBaseShape pbs,
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ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
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{
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bool ret = false;
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// This lock could probably be pushed down lower but building shouldn't take long
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lock (m_collectionActivityLock)
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{
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// Do we have the correct geometry for this type of object?
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// Updates prim.BSShape with information/pointers to shape.
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// CreateGeom returns 'true' of BSShape as changed to a new shape.
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bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
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// If we had to select a new shape geometry for the object,
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// rebuild the body around it.
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// Updates prim.BSBody with information/pointers to requested body
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bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
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prim.BSShape, shapeData, bodyCallback);
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ret = newGeom || newBody;
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}
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DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}",
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prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape);
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return ret;
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}
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// Track another user of a body
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// We presume the caller has allocated the body.
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// Bodies only have one user so the body is just put into the world if not already there.
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public void ReferenceBody(BulletBody body, bool inTaintTime)
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{
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lock (m_collectionActivityLock)
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{
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DetailLog("{0},BSShapeCollection.ReferenceBody,newBody", body.ID, body);
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BSScene.TaintCallback createOperation = delegate()
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{
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if (!BulletSimAPI.IsInWorld2(body.ptr))
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{
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BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
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DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
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}
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};
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if (inTaintTime)
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createOperation();
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else
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PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
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}
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}
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// Release the usage of a body.
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// Called when releasing use of a BSBody. BSShape is handled separately.
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public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
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{
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if (body.ptr == IntPtr.Zero)
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return;
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lock (m_collectionActivityLock)
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{
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BSScene.TaintCallback removeOperation = delegate()
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{
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DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
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body.ID, body.ptr.ToString("X"), inTaintTime);
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// If the caller needs to know the old body is going away, pass the event up.
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if (bodyCallback != null) bodyCallback(body);
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// It may have already been removed from the world in which case the next is a NOOP.
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BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
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// Zero any reference to the shape so it is not freed when the body is deleted.
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BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
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BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
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};
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// If already in taint-time, do the operations now. Otherwise queue for later.
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if (inTaintTime)
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removeOperation();
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else
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PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
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}
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}
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// Track the datastructures and use count for a shape.
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// When creating a hull, this is called first to reference the mesh
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// and then again to reference the hull.
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// Meshes and hulls for the same shape have the same hash key.
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// NOTE that native shapes are not added to the mesh list or removed.
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// Returns 'true' if this is the initial reference to the shape. Otherwise reused.
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private bool ReferenceShape(BulletShape shape)
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{
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bool ret = false;
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switch (shape.type)
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{
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case ShapeData.PhysicsShapeType.SHAPE_MESH:
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MeshDesc meshDesc;
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if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
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{
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// There is an existing instance of this mesh.
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meshDesc.referenceCount++;
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DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
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BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
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}
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else
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{
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// This is a new reference to a mesh
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meshDesc.ptr = shape.ptr;
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// We keep a reference to the underlying IMesh data so a hull can be built
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meshDesc.referenceCount = 1;
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DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
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BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
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ret = true;
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}
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meshDesc.lastReferenced = System.DateTime.Now;
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Meshes[shape.shapeKey] = meshDesc;
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break;
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case ShapeData.PhysicsShapeType.SHAPE_HULL:
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HullDesc hullDesc;
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if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
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{
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// There is an existing instance of this hull.
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hullDesc.referenceCount++;
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DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
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BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
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}
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else
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{
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// This is a new reference to a hull
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hullDesc.ptr = shape.ptr;
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hullDesc.referenceCount = 1;
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DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
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BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
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ret = true;
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}
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hullDesc.lastReferenced = System.DateTime.Now;
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Hulls[shape.shapeKey] = hullDesc;
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break;
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case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
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break;
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default:
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// Native shapes are not tracked and they don't go into any list
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break;
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}
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return ret;
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}
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// Release the usage of a shape.
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public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
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{
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if (shape.ptr == IntPtr.Zero)
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return;
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BSScene.TaintCallback dereferenceOperation = delegate()
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{
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if (shape.ptr != IntPtr.Zero)
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{
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if (shape.isNativeShape)
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{
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// Native shapes are not tracked and are released immediately
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DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
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BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
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if (shapeCallback != null) shapeCallback(shape);
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BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
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}
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else
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{
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switch (shape.type)
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{
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case ShapeData.PhysicsShapeType.SHAPE_HULL:
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DereferenceHull(shape, shapeCallback);
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break;
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case ShapeData.PhysicsShapeType.SHAPE_MESH:
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DereferenceMesh(shape, shapeCallback);
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break;
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case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
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break;
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default:
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break;
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}
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}
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}
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};
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if (inTaintTime)
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{
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lock (m_collectionActivityLock)
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{
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dereferenceOperation();
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}
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}
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else
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{
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PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation);
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}
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}
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// Count down the reference count for a mesh shape
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// Called at taint-time.
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private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
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{
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MeshDesc meshDesc;
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if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
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{
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meshDesc.referenceCount--;
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// TODO: release the Bullet storage
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if (shapeCallback != null) shapeCallback(shape);
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meshDesc.lastReferenced = System.DateTime.Now;
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Meshes[shape.shapeKey] = meshDesc;
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DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}",
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BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
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}
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}
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// Count down the reference count for a hull shape
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// Called at taint-time.
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private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
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{
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HullDesc hullDesc;
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if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
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{
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hullDesc.referenceCount--;
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// TODO: release the Bullet storage (aging old entries?)
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if (shapeCallback != null) shapeCallback(shape);
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hullDesc.lastReferenced = System.DateTime.Now;
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Hulls[shape.shapeKey] = hullDesc;
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DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}",
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BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
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}
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}
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// Create the geometry information in Bullet for later use.
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// The objects needs a hull if it's physical otherwise a mesh is enough.
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// if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
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// shared geometries will be used. If the parameters of the existing shape are the same
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// as this request, the shape is not rebuilt.
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// Info in prim.BSShape is updated to the new shape.
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// Returns 'true' if the geometry was rebuilt.
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// Called at taint-time!
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private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData,
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PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
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{
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bool ret = false;
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bool haveShape = false;
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bool nativeShapePossible = true;
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if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
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{
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// an avatar capsule is close to a native shape (it is not shared)
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ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
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ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
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DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape);
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ret = true;
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haveShape = true;
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}
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// If the prim attributes are simple, this could be a simple Bullet native shape
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if (!haveShape
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&& pbs != null
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&& nativeShapePossible
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&& ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
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|| (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
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&& pbs.ProfileHollow == 0
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&& pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
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&& pbs.PathBegin == 0 && pbs.PathEnd == 0
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&& pbs.PathTaperX == 0 && pbs.PathTaperY == 0
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&& pbs.PathScaleX == 100 && pbs.PathScaleY == 100
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&& pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
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{
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if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
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&& pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
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{
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haveShape = true;
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if (forceRebuild
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|| prim.Scale != shapeData.Size
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|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
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)
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{
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ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
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ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
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DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
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prim.LocalID, forceRebuild, prim.BSShape);
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}
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}
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if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
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{
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haveShape = true;
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if (forceRebuild
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|| prim.Scale != shapeData.Size
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|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
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)
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{
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ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
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ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
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DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
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prim.LocalID, forceRebuild, prim.BSShape);
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}
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}
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}
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// If a simple shape is not happening, create a mesh and possibly a hull.
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// Note that if it's a native shape, the check for physical/non-physical is not
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// made. Native shapes are best used in either case.
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if (!haveShape && pbs != null)
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{
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if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
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{
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// Update prim.BSShape to reference a hull of this shape.
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ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
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DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
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shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
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}
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else
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{
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ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
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DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
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shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
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}
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}
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return ret;
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}
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// Creates a native shape and assignes it to prim.BSShape.
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// "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
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private bool GetReferenceToNativeShape(BSPhysObject prim, ShapeData shapeData,
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ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
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ShapeDestructionCallback shapeCallback)
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{
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// release any previous shape
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DereferenceShape(prim.BSShape, true, shapeCallback);
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shapeData.Type = shapeType;
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// Bullet native objects are scaled by the Bullet engine so pass the size in
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prim.Scale = shapeData.Size;
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shapeData.Scale = shapeData.Size;
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BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey);
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// Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
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DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
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shapeData.ID, newShape, shapeData.Scale);
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prim.BSShape = newShape;
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return true;
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}
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private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType,
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ShapeData shapeData, ShapeData.FixedShapeKey shapeKey)
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{
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BulletShape newShape;
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// Need to make sure the passed shape information is for the native type.
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ShapeData nativeShapeData = shapeData;
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nativeShapeData.Type = shapeType;
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nativeShapeData.MeshKey = (ulong)shapeKey;
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nativeShapeData.HullKey = (ulong)shapeKey;
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if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
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{
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newShape = new BulletShape(
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BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, nativeShapeData.Scale)
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, shapeType);
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DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale);
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}
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else
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{
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newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
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}
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if (newShape.ptr == IntPtr.Zero)
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{
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PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
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LogHeader, nativeShapeData.ID, nativeShapeData.Type);
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}
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newShape.shapeKey = (System.UInt64)shapeKey;
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newShape.isNativeShape = true;
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return newShape;
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}
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// Builds a mesh shape in the physical world and updates prim.BSShape.
|
|
// Dereferences previous shape in BSShape and adds a reference for this new shape.
|
|
// Returns 'true' of a mesh was actually built. Otherwise .
|
|
// Called at taint-time!
|
|
private bool GetReferenceToMesh(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
|
|
ShapeDestructionCallback shapeCallback)
|
|
{
|
|
BulletShape newShape = new BulletShape(IntPtr.Zero);
|
|
|
|
float lod;
|
|
System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
|
|
|
|
// if this new shape is the same as last time, don't recreate the mesh
|
|
if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
|
|
return false;
|
|
|
|
DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}",
|
|
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
|
|
|
|
// Since we're recreating new, get rid of the reference to the previous shape
|
|
DereferenceShape(prim.BSShape, true, shapeCallback);
|
|
|
|
newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
|
|
// Take evasive action if the mesh was not constructed.
|
|
newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
|
|
|
|
ReferenceShape(newShape);
|
|
|
|
// meshes are already scaled by the meshmerizer
|
|
prim.Scale = new OMV.Vector3(1f, 1f, 1f);
|
|
prim.BSShape = newShape;
|
|
|
|
return true; // 'true' means a new shape has been added to this prim
|
|
}
|
|
|
|
private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
|
|
{
|
|
IMesh meshData = null;
|
|
IntPtr meshPtr = IntPtr.Zero;
|
|
MeshDesc meshDesc;
|
|
if (Meshes.TryGetValue(newMeshKey, out meshDesc))
|
|
{
|
|
// If the mesh has already been built just use it.
|
|
meshPtr = meshDesc.ptr;
|
|
}
|
|
else
|
|
{
|
|
// Pass false for physicalness as this creates some sort of bounding box which we don't need
|
|
meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
|
|
|
|
if (meshData != null)
|
|
{
|
|
int[] indices = meshData.getIndexListAsInt();
|
|
List<OMV.Vector3> vertices = meshData.getVertexList();
|
|
|
|
float[] verticesAsFloats = new float[vertices.Count * 3];
|
|
int vi = 0;
|
|
foreach (OMV.Vector3 vv in vertices)
|
|
{
|
|
verticesAsFloats[vi++] = vv.X;
|
|
verticesAsFloats[vi++] = vv.Y;
|
|
verticesAsFloats[vi++] = vv.Z;
|
|
}
|
|
|
|
// m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
|
|
// LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
|
|
|
|
meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
|
|
indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
|
|
}
|
|
}
|
|
BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH);
|
|
newShape.shapeKey = newMeshKey;
|
|
|
|
return newShape;
|
|
}
|
|
|
|
// See that hull shape exists in the physical world and update prim.BSShape.
|
|
// We could be creating the hull because scale changed or whatever.
|
|
private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
|
|
ShapeDestructionCallback shapeCallback)
|
|
{
|
|
BulletShape newShape;
|
|
|
|
float lod;
|
|
System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
|
|
|
|
// if the hull hasn't changed, don't rebuild it
|
|
if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
|
|
return false;
|
|
|
|
DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}",
|
|
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
|
|
|
|
// Remove usage of the previous shape.
|
|
DereferenceShape(prim.BSShape, true, shapeCallback);
|
|
|
|
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
|
|
newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
|
|
|
|
ReferenceShape(newShape);
|
|
|
|
// hulls are already scaled by the meshmerizer
|
|
prim.Scale = new OMV.Vector3(1f, 1f, 1f);
|
|
prim.BSShape = newShape;
|
|
return true; // 'true' means a new shape has been added to this prim
|
|
}
|
|
|
|
List<ConvexResult> m_hulls;
|
|
private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
|
|
{
|
|
|
|
IntPtr hullPtr = IntPtr.Zero;
|
|
HullDesc hullDesc;
|
|
if (Hulls.TryGetValue(newHullKey, out hullDesc))
|
|
{
|
|
// If the hull shape already is created, just use it.
|
|
hullPtr = hullDesc.ptr;
|
|
}
|
|
else
|
|
{
|
|
// Build a new hull in the physical world
|
|
// Pass false for physicalness as this creates some sort of bounding box which we don't need
|
|
IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
|
|
if (meshData != null)
|
|
{
|
|
|
|
int[] indices = meshData.getIndexListAsInt();
|
|
List<OMV.Vector3> vertices = meshData.getVertexList();
|
|
|
|
//format conversion from IMesh format to DecompDesc format
|
|
List<int> convIndices = new List<int>();
|
|
List<float3> convVertices = new List<float3>();
|
|
for (int ii = 0; ii < indices.GetLength(0); ii++)
|
|
{
|
|
convIndices.Add(indices[ii]);
|
|
}
|
|
foreach (OMV.Vector3 vv in vertices)
|
|
{
|
|
convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
|
|
}
|
|
|
|
// setup and do convex hull conversion
|
|
m_hulls = new List<ConvexResult>();
|
|
DecompDesc dcomp = new DecompDesc();
|
|
dcomp.mIndices = convIndices;
|
|
dcomp.mVertices = convVertices;
|
|
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
|
|
// create the hull into the _hulls variable
|
|
convexBuilder.process(dcomp);
|
|
|
|
// Convert the vertices and indices for passing to unmanaged.
|
|
// The hull information is passed as a large floating point array.
|
|
// The format is:
|
|
// convHulls[0] = number of hulls
|
|
// convHulls[1] = number of vertices in first hull
|
|
// convHulls[2] = hull centroid X coordinate
|
|
// convHulls[3] = hull centroid Y coordinate
|
|
// convHulls[4] = hull centroid Z coordinate
|
|
// convHulls[5] = first hull vertex X
|
|
// convHulls[6] = first hull vertex Y
|
|
// convHulls[7] = first hull vertex Z
|
|
// convHulls[8] = second hull vertex X
|
|
// ...
|
|
// convHulls[n] = number of vertices in second hull
|
|
// convHulls[n+1] = second hull centroid X coordinate
|
|
// ...
|
|
//
|
|
// TODO: is is very inefficient. Someday change the convex hull generator to return
|
|
// data structures that do not need to be converted in order to pass to Bullet.
|
|
// And maybe put the values directly into pinned memory rather than marshaling.
|
|
int hullCount = m_hulls.Count;
|
|
int totalVertices = 1; // include one for the count of the hulls
|
|
foreach (ConvexResult cr in m_hulls)
|
|
{
|
|
totalVertices += 4; // add four for the vertex count and centroid
|
|
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
|
|
}
|
|
float[] convHulls = new float[totalVertices];
|
|
|
|
convHulls[0] = (float)hullCount;
|
|
int jj = 1;
|
|
foreach (ConvexResult cr in m_hulls)
|
|
{
|
|
// copy vertices for index access
|
|
float3[] verts = new float3[cr.HullVertices.Count];
|
|
int kk = 0;
|
|
foreach (float3 ff in cr.HullVertices)
|
|
{
|
|
verts[kk++] = ff;
|
|
}
|
|
|
|
// add to the array one hull's worth of data
|
|
convHulls[jj++] = cr.HullIndices.Count;
|
|
convHulls[jj++] = 0f; // centroid x,y,z
|
|
convHulls[jj++] = 0f;
|
|
convHulls[jj++] = 0f;
|
|
foreach (int ind in cr.HullIndices)
|
|
{
|
|
convHulls[jj++] = verts[ind].x;
|
|
convHulls[jj++] = verts[ind].y;
|
|
convHulls[jj++] = verts[ind].z;
|
|
}
|
|
}
|
|
// create the hull data structure in Bullet
|
|
hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
|
|
}
|
|
}
|
|
|
|
BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
|
|
newShape.shapeKey = newHullKey;
|
|
|
|
return newShape; // 'true' means a new shape has been added to this prim
|
|
}
|
|
|
|
// Callback from convex hull creater with a newly created hull.
|
|
// Just add it to our collection of hulls for this shape.
|
|
private void HullReturn(ConvexResult result)
|
|
{
|
|
m_hulls.Add(result);
|
|
return;
|
|
}
|
|
|
|
// Create a hash of all the shape parameters to be used as a key
|
|
// for this particular shape.
|
|
private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
|
|
{
|
|
// level of detail based on size and type of the object
|
|
float lod = PhysicsScene.MeshLOD;
|
|
if (pbs.SculptEntry)
|
|
lod = PhysicsScene.SculptLOD;
|
|
|
|
// Mega prims usually get more detail because one can interact with shape approximations at this size.
|
|
float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z));
|
|
if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
|
|
lod = PhysicsScene.MeshMegaPrimLOD;
|
|
|
|
retLod = lod;
|
|
return pbs.GetMeshKey(shapeData.Size, lod);
|
|
}
|
|
// For those who don't want the LOD
|
|
private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
|
|
{
|
|
float lod;
|
|
return ComputeShapeKey(shapeData, pbs, out lod);
|
|
}
|
|
|
|
// The creation of a mesh or hull can fail if an underlying asset is not available.
|
|
// There are two cases: 1) the asset is not in the cache and it needs to be fetched;
|
|
// and 2) the asset cannot be converted (like decompressing JPEG2000s).
|
|
// The first case causes the asset to be fetched. The second case just requires
|
|
// us to not loop forever.
|
|
// Called after creating a physical mesh or hull. If the physical shape was created,
|
|
// just return.
|
|
private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs)
|
|
{
|
|
// If the shape was successfully created, nothing more to do
|
|
if (newShape.ptr != IntPtr.Zero)
|
|
return newShape;
|
|
|
|
// If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
|
|
if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero)
|
|
{
|
|
prim.LastAssetBuildFailed = true;
|
|
BSPhysObject xprim = prim;
|
|
DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
|
|
LogHeader, shapeData.ID.ToString("X"), prim.LastAssetBuildFailed);
|
|
Util.FireAndForget(delegate
|
|
{
|
|
RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
|
|
if (assetProvider != null)
|
|
{
|
|
BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
|
|
assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
|
|
{
|
|
if (!yprim.BaseShape.SculptEntry)
|
|
return;
|
|
if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
|
|
return;
|
|
|
|
yprim.BaseShape.SculptData = asset.Data;
|
|
// This will cause the prim to see that the filler shape is not the right
|
|
// one and try again to build the object.
|
|
// No race condition with the native sphere setting since the rebuild is at taint time.
|
|
yprim.ForceBodyShapeRebuild(false);
|
|
|
|
});
|
|
}
|
|
});
|
|
}
|
|
else
|
|
{
|
|
if (prim.LastAssetBuildFailed)
|
|
{
|
|
PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}",
|
|
LogHeader, shapeData.ID, pbs.SculptTexture);
|
|
}
|
|
}
|
|
|
|
// While we figure out the real problem, stick a simple native shape on the object.
|
|
BulletShape fillinShape =
|
|
BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_BOX, shapeData, ShapeData.FixedShapeKey.KEY_BOX);
|
|
|
|
return fillinShape;
|
|
}
|
|
|
|
// Create a body object in Bullet.
|
|
// Updates prim.BSBody with the information about the new body if one is created.
|
|
// Returns 'true' if an object was actually created.
|
|
// Called at taint-time.
|
|
private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape,
|
|
ShapeData shapeData, BodyDestructionCallback bodyCallback)
|
|
{
|
|
bool ret = false;
|
|
|
|
// the mesh, hull or native shape must have already been created in Bullet
|
|
bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero);
|
|
|
|
// If there is an existing body, verify it's of an acceptable type.
|
|
// If not a solid object, body is a GhostObject. Otherwise a RigidBody.
|
|
if (!mustRebuild)
|
|
{
|
|
CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.BSBody.ptr);
|
|
if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
|
|
|| !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
|
|
{
|
|
// If the collisionObject is not the correct type for solidness, rebuild what's there
|
|
mustRebuild = true;
|
|
}
|
|
}
|
|
|
|
if (mustRebuild || forceRebuild)
|
|
{
|
|
// Free any old body
|
|
DereferenceBody(prim.BSBody, true, bodyCallback);
|
|
|
|
BulletBody aBody;
|
|
IntPtr bodyPtr = IntPtr.Zero;
|
|
if (prim.IsSolid)
|
|
{
|
|
bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
|
|
shapeData.ID, shapeData.Position, shapeData.Rotation);
|
|
DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
|
|
}
|
|
else
|
|
{
|
|
bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
|
|
shapeData.ID, shapeData.Position, shapeData.Rotation);
|
|
DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
|
|
}
|
|
aBody = new BulletBody(shapeData.ID, bodyPtr);
|
|
|
|
ReferenceBody(aBody, true);
|
|
|
|
prim.BSBody = aBody;
|
|
|
|
ret = true;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
private void DetailLog(string msg, params Object[] args)
|
|
{
|
|
if (PhysicsScene.PhysicsLogging.Enabled)
|
|
PhysicsScene.DetailLog(msg, args);
|
|
}
|
|
}
|
|
}
|