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BulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanaged

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to have pointers and managed to have objects.
Initial paste of XNA code. Commented out.
This commit is contained in:
Robert Adams
2013-01-01 09:30:49 -08:00
parent a0739a80a8
commit 04132d3af4
6 changed files with 1806 additions and 278 deletions
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27
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
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@@ -45,7 +45,7 @@ public sealed class BSShapeCollection : IDisposable
// Description of a Mesh
private struct MeshDesc
{
public IntPtr ptr;
public BulletShape shape;
public int referenceCount;
public DateTime lastReferenced;
public UInt64 shapeKey;
@@ -55,7 +55,7 @@ public sealed class BSShapeCollection : IDisposable
// Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
private struct HullDesc
{
public IntPtr ptr;
public BulletShape shape;
public int referenceCount;
public DateTime lastReferenced;
public UInt64 shapeKey;
@@ -173,7 +173,7 @@ public sealed class BSShapeCollection : IDisposable
}
// Zero any reference to the shape so it is not freed when the body is deleted.
PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, new BulletShape());
PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null);
PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
});
}
@@ -202,7 +202,7 @@ public sealed class BSShapeCollection : IDisposable
else
{
// This is a new reference to a mesh
meshDesc.ptr = shape.ptr;
meshDesc.shape = shape.Clone();
meshDesc.shapeKey = shape.shapeKey;
// We keep a reference to the underlying IMesh data so a hull can be built
meshDesc.referenceCount = 1;
@@ -225,7 +225,7 @@ public sealed class BSShapeCollection : IDisposable
else
{
// This is a new reference to a hull
hullDesc.ptr = shape.ptr;
hullDesc.shape = shape.Clone();
hullDesc.shapeKey = shape.shapeKey;
hullDesc.referenceCount = 1;
if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
@@ -361,15 +361,14 @@ public sealed class BSShapeCollection : IDisposable
MeshDesc meshDesc;
HullDesc hullDesc;
IntPtr cShape = shapeInfo.ptr;
if (TryGetMeshByPtr(cShape, out meshDesc))
if (TryGetMeshByPtr(shapeInfo, out meshDesc))
{
shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
shapeInfo.shapeKey = meshDesc.shapeKey;
}
else
{
if (TryGetHullByPtr(cShape, out hullDesc))
if (TryGetHullByPtr(shapeInfo, out hullDesc))
{
shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL;
shapeInfo.shapeKey = hullDesc.shapeKey;
@@ -632,7 +631,7 @@ public sealed class BSShapeCollection : IDisposable
if (Meshes.TryGetValue(newMeshKey, out meshDesc))
{
// If the mesh has already been built just use it.
newShape = new BulletShape(meshDesc.ptr, BSPhysicsShapeType.SHAPE_MESH);
newShape = meshDesc.shape.Clone();
}
else
{
@@ -703,7 +702,7 @@ public sealed class BSShapeCollection : IDisposable
if (Hulls.TryGetValue(newHullKey, out hullDesc))
{
// If the hull shape already is created, just use it.
newShape = new BulletShape(hullDesc.ptr, BSPhysicsShapeType.SHAPE_HULL);
newShape = hullDesc.shape.Clone();
}
else
{
@@ -965,13 +964,13 @@ public sealed class BSShapeCollection : IDisposable
return ret;
}
private bool TryGetMeshByPtr(IntPtr addr, out MeshDesc outDesc)
private bool TryGetMeshByPtr(BulletShape shape, out MeshDesc outDesc)
{
bool ret = false;
MeshDesc foundDesc = new MeshDesc();
foreach (MeshDesc md in Meshes.Values)
{
if (md.ptr == addr)
if (md.shape.ReferenceSame(shape))
{
foundDesc = md;
ret = true;
@@ -983,13 +982,13 @@ public sealed class BSShapeCollection : IDisposable
return ret;
}
private bool TryGetHullByPtr(IntPtr addr, out HullDesc outDesc)
private bool TryGetHullByPtr(BulletShape shape, out HullDesc outDesc)
{
bool ret = false;
HullDesc foundDesc = new HullDesc();
foreach (HullDesc hd in Hulls.Values)
{
if (hd.ptr == addr)
if (hd.shape.ReferenceSame(shape))
{
foundDesc = hd;
ret = true;