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BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add skeleton of BSLinksetCompound.

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This commit is contained in:
Robert Adams
2012-10-31 14:49:28 -07:00
parent 28e2cd3fa2
commit 364a7c3088
9 changed files with 328 additions and 176 deletions
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46
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
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@@ -106,11 +106,11 @@ public sealed class BSShapeCollection : IDisposable
// rebuild the body around it.
// Updates prim.BSBody with information/pointers to requested body
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
prim.BSShape, shapeData, bodyCallback);
prim.PhysShape, shapeData, bodyCallback);
ret = newGeom || newBody;
}
DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape);
prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
return ret;
}
@@ -337,7 +337,7 @@ public sealed class BSShapeCollection : IDisposable
// an avatar capsule is close to a native shape (it is not shared)
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape);
DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
ret = true;
haveShape = true;
}
@@ -360,13 +360,13 @@ public sealed class BSShapeCollection : IDisposable
haveShape = true;
if (forceRebuild
|| prim.Scale != shapeData.Size
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
|| prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
)
{
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.BSShape);
prim.LocalID, forceRebuild, prim.PhysShape);
}
}
if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
@@ -374,13 +374,13 @@ public sealed class BSShapeCollection : IDisposable
haveShape = true;
if (forceRebuild
|| prim.Scale != shapeData.Size
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
|| prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
)
{
ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.BSShape);
prim.LocalID, forceRebuild, prim.PhysShape);
}
}
}
@@ -394,13 +394,13 @@ public sealed class BSShapeCollection : IDisposable
// Update prim.BSShape to reference a hull of this shape.
ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
}
else
{
ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
}
}
return ret;
@@ -413,7 +413,7 @@ public sealed class BSShapeCollection : IDisposable
ShapeDestructionCallback shapeCallback)
{
// release any previous shape
DereferenceShape(prim.BSShape, true, shapeCallback);
DereferenceShape(prim.PhysShape, true, shapeCallback);
shapeData.Type = shapeType;
// Bullet native objects are scaled by the Bullet engine so pass the size in
@@ -426,7 +426,7 @@ public sealed class BSShapeCollection : IDisposable
DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
shapeData.ID, newShape, shapeData.Scale);
prim.BSShape = newShape;
prim.PhysShape = newShape;
return true;
}
@@ -475,14 +475,14 @@ public sealed class BSShapeCollection : IDisposable
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)
if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.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"));
prim.LocalID, prim.PhysShape.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);
DereferenceShape(prim.PhysShape, true, shapeCallback);
newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
// Take evasive action if the mesh was not constructed.
@@ -492,7 +492,7 @@ public sealed class BSShapeCollection : IDisposable
// meshes are already scaled by the meshmerizer
prim.Scale = new OMV.Vector3(1f, 1f, 1f);
prim.BSShape = newShape;
prim.PhysShape = newShape;
return true; // 'true' means a new shape has been added to this prim
}
@@ -550,14 +550,14 @@ public sealed class BSShapeCollection : IDisposable
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)
if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.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"));
prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
// Remove usage of the previous shape.
DereferenceShape(prim.BSShape, true, shapeCallback);
DereferenceShape(prim.PhysShape, true, shapeCallback);
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
@@ -566,7 +566,7 @@ public sealed class BSShapeCollection : IDisposable
// hulls are already scaled by the meshmerizer
prim.Scale = new OMV.Vector3(1f, 1f, 1f);
prim.BSShape = newShape;
prim.PhysShape = newShape;
return true; // 'true' means a new shape has been added to this prim
}
@@ -778,13 +778,13 @@ public sealed class BSShapeCollection : IDisposable
bool ret = false;
// the mesh, hull or native shape must have already been created in Bullet
bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero);
bool mustRebuild = (prim.PhysBody.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);
CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr);
if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
|| !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
{
@@ -796,7 +796,7 @@ public sealed class BSShapeCollection : IDisposable
if (mustRebuild || forceRebuild)
{
// Free any old body
DereferenceBody(prim.BSBody, true, bodyCallback);
DereferenceBody(prim.PhysBody, true, bodyCallback);
BulletBody aBody;
IntPtr bodyPtr = IntPtr.Zero;
@@ -816,7 +816,7 @@ public sealed class BSShapeCollection : IDisposable
ReferenceBody(aBody, true);
prim.BSBody = aBody;
prim.PhysBody = aBody;
ret = true;
}