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BulletSim: complete code for managed code shape and body tracking. Not debugged.

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Eliminate some null exceptions created adding the above code.
Add and remove some detailed logging statements.
This commit is contained in:
Robert Adams
2012-09-20 10:12:51 -07:00
parent a27e4ce6cb
commit 22290ef35a
5 changed files with 675 additions and 130 deletions
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43
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@@ -40,7 +40,9 @@ public struct BulletSim
{
public BulletSim(uint worldId, BSScene bss, IntPtr xx)
{
worldID = worldId; scene = bss; Ptr = xx;
worldID = worldId;
scene = bss;
Ptr = xx;
}
public uint worldID;
// The scene is only in here so very low level routines have a handle to print debug/error messages
@@ -58,6 +60,16 @@ public struct BulletBody
}
public IntPtr Ptr;
public uint ID;
public override string ToString()
{
StringBuilder buff = new StringBuilder();
buff.Append("<id=");
buff.Append(ID.ToString());
buff.Append(",p=");
buff.Append(Ptr.ToString("X"));
buff.Append(">");
return buff.ToString();
}
}
public struct BulletShape
@@ -66,17 +78,29 @@ public struct BulletShape
{
Ptr = xx;
type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
hashKey = 0;
shapeKey = 0;
}
public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
{
Ptr = xx;
type = typ;
hashKey = 0;
shapeKey = 0;
}
public IntPtr Ptr;
public ShapeData.PhysicsShapeType type;
public ulong hashKey;
public ulong shapeKey;
public override string ToString()
{
StringBuilder buff = new StringBuilder();
buff.Append("<p=");
buff.Append(Ptr.ToString("X"));
buff.Append(",s=");
buff.Append(type.ToString());
buff.Append(",k=");
buff.Append(shapeKey.ToString("X"));
buff.Append(">");
return buff.ToString();
}
}
// An allocated Bullet btConstraint
@@ -155,10 +179,21 @@ public struct ShapeData
public float Restitution;
public float Collidable; // true of things bump into this
public float Static; // true if a static object. Otherwise gravity, etc.
public float Solid; // true if object cannot be passed through
public Vector3 Size;
// note that bools are passed as floats since bool size changes by language and architecture
public const float numericTrue = 1f;
public const float numericFalse = 0f;
// The native shapes have predefined shape hash keys
public enum FixedShapeKey : ulong
{
KEY_BOX = 1,
KEY_SPHERE = 2,
KEY_CONE = 3,
KEY_CYLINDER = 4,
}
}
[StructLayout(LayoutKind.Sequential)]
public struct SweepHit