mirror of
https://github.com/opensim/opensim.git
synced 2026-08-07 17:55:48 +08:00
BulletSim: complete movement of BulletSimAPI functions to BSAPITemplate.
Update BulletSim DLLs and SOs with simplier step function interface.
This commit is contained in:
Robert Adams
@@ -26,6 +26,7 @@
|
||||
*/
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Reflection;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using System.Text;
|
||||
@@ -36,31 +37,102 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
||||
{
|
||||
public sealed class BSAPIUnman : BSAPITemplate
|
||||
{
|
||||
/*
|
||||
|
||||
// We pin the memory passed between the managed and unmanaged code.
|
||||
GCHandle m_paramsHandle;
|
||||
private GCHandle m_collisionArrayPinnedHandle;
|
||||
private GCHandle m_updateArrayPinnedHandle;
|
||||
|
||||
// Handle to the callback used by the unmanaged code to call into the managed code.
|
||||
// Used for debug logging.
|
||||
// Need to store the handle in a persistant variable so it won't be freed.
|
||||
private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle;
|
||||
|
||||
private BSScene PhysicsScene { get; set; }
|
||||
|
||||
public override string BulletEngineName { get { return "BulletUnmanaged"; } }
|
||||
public override string BulletEngineVersion { get; protected set; }
|
||||
|
||||
public BSAPIUnman(string paramName, BSScene physScene)
|
||||
{
|
||||
PhysicsScene = physScene;
|
||||
// Do something fancy with the paramName to get the right DLL implementation
|
||||
// like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
|
||||
}
|
||||
|
||||
// Initialization and simulation
|
||||
public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms,
|
||||
int maxCollisions, IntPtr collisionArray,
|
||||
int maxUpdates, IntPtr updateArray
|
||||
);
|
||||
public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
|
||||
int maxCollisions, ref CollisionDesc[] collisionArray,
|
||||
int maxUpdates, ref EntityProperties[] updateArray
|
||||
)
|
||||
{
|
||||
// Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
|
||||
m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
|
||||
m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
|
||||
m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
|
||||
|
||||
public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
|
||||
// If Debug logging level, enable logging from the unmanaged code
|
||||
m_DebugLogCallbackHandle = null;
|
||||
if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled)
|
||||
{
|
||||
BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
|
||||
if (PhysicsScene.PhysicsLogging.Enabled)
|
||||
// The handle is saved in a variable to make sure it doesn't get freed after this call
|
||||
m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
|
||||
else
|
||||
m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
|
||||
}
|
||||
|
||||
// Get the version of the DLL
|
||||
// TODO: this doesn't work yet. Something wrong with marshaling the returned string.
|
||||
// BulletEngineVersion = BulletSimAPI.GetVersion2();
|
||||
BulletEngineVersion = "";
|
||||
|
||||
// Call the unmanaged code with the buffers and other information
|
||||
return new BulletWorld(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
|
||||
maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
|
||||
maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
|
||||
m_DebugLogCallbackHandle));
|
||||
|
||||
}
|
||||
|
||||
// Called directly from unmanaged code so don't do much
|
||||
private void BulletLogger(string msg)
|
||||
{
|
||||
BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg);
|
||||
}
|
||||
|
||||
// Called directly from unmanaged code so don't do much
|
||||
private void BulletLoggerPhysLog(string msg)
|
||||
{
|
||||
PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
|
||||
}
|
||||
|
||||
/*
|
||||
public void SetHeightMap(BulletWorld world, float[] heightmap);
|
||||
|
||||
public void Shutdown(BulletWorld sim);
|
||||
|
||||
public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
|
||||
out int updatedEntityCount,
|
||||
out IntPtr updatedEntitiesPtr,
|
||||
out int collidersCount,
|
||||
out IntPtr collidersPtr);
|
||||
|
||||
*/
|
||||
public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
|
||||
out int updatedEntityCount, out int collidersCount)
|
||||
{
|
||||
return BSAPICPP.PhysicsStep2(world.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
|
||||
}
|
||||
|
||||
public override void Shutdown(BulletWorld sim)
|
||||
{
|
||||
BSAPICPP.Shutdown2(sim.ptr);
|
||||
}
|
||||
|
||||
public override bool PushUpdate(BulletBody obj)
|
||||
{
|
||||
return BSAPICPP.PushUpdate2(obj.ptr);
|
||||
}
|
||||
|
||||
public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
|
||||
{
|
||||
return BSAPICPP.UpdateParameter2(world.ptr, localID, parm, value);
|
||||
}
|
||||
|
||||
// =====================================================================================
|
||||
// Mesh, hull, shape and body creation helper routines
|
||||
public override BulletShape CreateMeshShape(BulletWorld world,
|
||||
@@ -893,11 +965,81 @@ public override float GetMargin(BulletShape shape)
|
||||
return BSAPICPP.GetMargin2(shape.ptr);
|
||||
}
|
||||
|
||||
// =====================================================================================
|
||||
// Debugging
|
||||
public override void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
|
||||
{
|
||||
BSAPICPP.DumpRigidBody2(sim.ptr, collisionObject.ptr);
|
||||
}
|
||||
|
||||
public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape)
|
||||
{
|
||||
BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr);
|
||||
}
|
||||
|
||||
public override void DumpMapInfo(BulletWorld sim, BulletHMapInfo mapInfo)
|
||||
{
|
||||
BSAPICPP.DumpMapInfo2(sim.ptr, mapInfo.ptr);
|
||||
}
|
||||
|
||||
public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
|
||||
{
|
||||
BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr);
|
||||
}
|
||||
|
||||
public override void DumpActivationInfo(BulletWorld sim)
|
||||
{
|
||||
BSAPICPP.DumpActivationInfo2(sim.ptr);
|
||||
}
|
||||
|
||||
public override void DumpAllInfo(BulletWorld sim)
|
||||
{
|
||||
BSAPICPP.DumpAllInfo2(sim.ptr);
|
||||
}
|
||||
|
||||
public override void DumpPhysicsStatistics(BulletWorld sim)
|
||||
{
|
||||
BSAPICPP.DumpPhysicsStatistics2(sim.ptr);
|
||||
}
|
||||
|
||||
|
||||
// =====================================================================================
|
||||
// =====================================================================================
|
||||
// =====================================================================================
|
||||
// =====================================================================================
|
||||
// =====================================================================================
|
||||
// The actual interface to the unmanaged code
|
||||
static class BSAPICPP
|
||||
{
|
||||
// ===============================================================================
|
||||
// Link back to the managed code for outputting log messages
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
|
||||
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
|
||||
|
||||
// ===============================================================================
|
||||
// Initialization and simulation
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
|
||||
int maxCollisions, IntPtr collisionArray,
|
||||
int maxUpdates, IntPtr updateArray,
|
||||
DebugLogCallback logRoutine);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
|
||||
out int updatedEntityCount, out int collidersCount);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void Shutdown2(IntPtr sim);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool PushUpdate2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
|
||||
|
||||
// =====================================================================================
|
||||
// Mesh, hull, shape and body creation helper routines
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
@@ -1431,52 +1573,6 @@ public static extern void SetMargin2(IntPtr shape, float val);
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetMargin2(IntPtr shape);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
static class BulletSimAPI {
|
||||
// ===============================================================================
|
||||
// Link back to the managed code for outputting log messages
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
|
||||
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
|
||||
|
||||
// ===============================================================================
|
||||
// Initialization and simulation
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
|
||||
int maxCollisions, IntPtr collisionArray,
|
||||
int maxUpdates, IntPtr updateArray,
|
||||
DebugLogCallback logRoutine);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void Shutdown2(IntPtr sim);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
|
||||
out int updatedEntityCount,
|
||||
out IntPtr updatedEntitiesPtr,
|
||||
out int collidersCount,
|
||||
out IntPtr collidersPtr);
|
||||
|
||||
// =====================================================================================
|
||||
// Debugging
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
@@ -1501,4 +1597,7 @@ public static extern void DumpAllInfo2(IntPtr sim);
|
||||
public static extern void DumpPhysicsStatistics2(IntPtr sim);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user