diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e4b1dd4f2d..961bcde895 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -90,7 +90,8 @@ public class BSCharacter : BSPhysObject // Physics creates a unit capsule which is scaled by the physics engine. ComputeAvatarScale(_size); _avatarDensity = PhysicsScene.Params.avatarDensity; - ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale + // set _avatarVolume and _mass based on capsule size, _density and _scale + ComputeAvatarVolumeAndMass(); ShapeData shapeData = new ShapeData(); shapeData.ID = LocalID; @@ -111,10 +112,15 @@ public class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.create,taint", LocalID); BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData); - // Set the buoyancy for flying. This will be refactored when all the settings happen in C# + // Set the buoyancy for flying. This will be refactored when all the settings happen in C#. + // If not set at creation, the avatar will stop flying when created after crossing a region boundry. BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID)); + + // This works here because CreateObject has already put the character into the physical world. + BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, + (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask); }); return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6a9fe50894..34584776a5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -123,6 +123,7 @@ public abstract class BSPhysObject : PhysicsActor CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); + ret = true; } return ret; @@ -145,7 +146,10 @@ public abstract class BSPhysObject : PhysicsActor // We are called if we previously had collisions. If there are no collisions // this time, send up one last empty event so OpenSim can sense collision end. if (CollisionCollection.Count == 0) + { + // If I have no collisions this time, remove me from the list of objects with collisions. PhysicsScene.ObjectsWithNoMoreCollisions.Add(this); + } DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); base.SendCollisionUpdate(CollisionCollection); @@ -159,7 +163,7 @@ public abstract class BSPhysObject : PhysicsActor // Subscribe for collision events. // Parameter is the millisecond rate the caller wishes collision events to occur. public override void SubscribeEvents(int ms) { - DetailLog("{0},BSScene.SubscribeEvents,subscribing,ms={1}", BSScene.DetailLogZero, ms); + DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms); SubscribedEventsMs = ms; if (ms > 0) { @@ -178,7 +182,7 @@ public abstract class BSPhysObject : PhysicsActor } } public override void UnSubscribeEvents() { - DetailLog("{0},BSScene.UnSubscribeEvents,unsubscribing", BSScene.DetailLogZero); + DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); SubscribedEventsMs = 0; PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 5be2b1b6fe..1c6d47642a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -271,7 +271,7 @@ public sealed class BSPrim : BSPhysObject _position = BulletSimAPI.GetPosition2(BSBody.ptr); // don't do the GetObjectPosition for root elements because this function is called a zillion times - // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID); + // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); return _position; } set { @@ -432,7 +432,7 @@ public sealed class BSPrim : BSPhysObject // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { - // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID); + // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); }); @@ -492,7 +492,8 @@ public sealed class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); - // Mangling all the physical properties requires the object to be out of the physical world + // Mangling all the physical properties requires the object to be out of the physical world. + // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); #if !CSHARP_BODY_MANAGEMENT @@ -517,6 +518,14 @@ public sealed class BSPrim : BSPhysObject // Rebuild its shape BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); + // Collision filter can be set only when the object is in the world + if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0) + { + BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,setCollisionFilterMask,filter={1},mask={2}", + LocalID, BSBody.collisionFilter.ToString("X"), BSBody.collisionMask.ToString("X")); + } + // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that // had been automatically disabled when the mass was set to zero. @@ -548,8 +557,11 @@ public sealed class BSPrim : BSPhysObject // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'sleeping' so Bullet will not try to act on it - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); - // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION); + // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); + + BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; + BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; } else { @@ -582,6 +594,9 @@ public sealed class BSPrim : BSPhysObject // Force activation of the object so Bullet will act on it. BulletSimAPI.Activate2(BSBody.ptr, true); + + BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; + BSBody.collisionMask = CollisionFilterGroups.ObjectMask; } } @@ -609,6 +624,8 @@ public sealed class BSPrim : BSPhysObject m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); } CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter; + BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; } #else // If doing the body management in C#, all this logic is in CSShapeCollection.CreateObject(). @@ -745,7 +762,6 @@ public sealed class BSPrim : BSPhysObject // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); - // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); }); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 87c7b1b95d..e8c628c630 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -39,20 +39,20 @@ using log4net; using OpenMetaverse; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) -// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) -// Test sculpties +// Move all logic out of the C++ code and into the C# code for easier future modifications. +// Test sculpties (verified that they don't work) // Compute physics FPS reasonably // Based on material, set density and friction -// More efficient memory usage when passing hull information from BSPrim to BulletSim -// Move all logic out of the C++ code and into the C# code for easier future modifications. +// Don't use constraints in linksets of non-physical objects. Means having to move children manually. // Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? // In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) // At the moment, physical and phantom causes object to drop through the terrain // Physical phantom objects and related typing (collision options ) -// Use collision masks for collision with terrain and phantom objects // Check out llVolumeDetect. Must do something for that. +// Use collision masks for collision with terrain and phantom objects +// More efficient memory usage when passing hull information from BSPrim to BulletSim // Should prim.link() and prim.delink() membership checking happen at taint time? -// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once +// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once. // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect // Implement LockAngularMotion // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) @@ -356,6 +356,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters Constraints = null; } + if (Shapes != null) + { + Shapes.Dispose(); + Shapes = null; + } + // Anything left in the unmanaged code should be cleaned out BulletSimAPI.Shutdown(WorldID); @@ -589,7 +595,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters { if (localID <= TerrainManager.HighestTerrainID) { - DetailLog("{0},BSScene.SendCollision,collideWithTerrain,id={1},with={2}", DetailLogZero, localID, collidingWith); return; // don't send collisions to the terrain } @@ -601,8 +606,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters return; } - // The terrain is not in the physical object list so 'collidee' - // can be null when Collide() is called. + // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called. BSPhysObject collidee = null; PhysObjects.TryGetValue(collidingWith, out collidee); @@ -1026,7 +1030,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", - ConfigurationParameters.numericFalse, + ConfigurationParameters.numericTrue, (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, (s) => { return s.m_params[0].shouldSplitSimulationIslands; }, (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 6b906610d6..7fce8c9114 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -36,6 +36,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSShapeCollection : IDisposable { + private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; + protected BSScene PhysicsScene { get; set; } private Object m_collectionActivityLock = new Object(); @@ -43,24 +45,23 @@ public class BSShapeCollection : IDisposable // Description of a Mesh private struct MeshDesc { - public IntPtr Ptr; + public IntPtr ptr; public int referenceCount; public DateTime lastReferenced; - public IMesh meshData; } // Description of a hull. // Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects private struct HullDesc { - public IntPtr Ptr; + public IntPtr ptr; public int referenceCount; public DateTime lastReferenced; } private struct BodyDesc { - public IntPtr Ptr; + public IntPtr ptr; // Bodies are only used once so reference count is always either one or zero public int referenceCount; public DateTime lastReferenced; @@ -93,14 +94,16 @@ public class BSShapeCollection : IDisposable lock (m_collectionActivityLock) { // Do we have the correct geometry for this type of object? + // Updates prim.BSShape with information/pointers to requested shape bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs); // If we had to select a new shape geometry for the object, // 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); ret = newGeom || newBody; } - DetailLog("{0},BSShapeCollection.GetBodyAndShape,force-{1},ret={2},body={3},shape={4}", - prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); + DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}", + prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); return ret; } @@ -120,7 +123,8 @@ public class BSShapeCollection : IDisposable } else { - bodyDesc.Ptr = shape.ptr; + // New entry + bodyDesc.ptr = shape.ptr; bodyDesc.referenceCount = 1; DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", shape.ID, bodyDesc.referenceCount); } @@ -130,7 +134,7 @@ public class BSShapeCollection : IDisposable } // Release the usage of a body. - // Not that this will also delete the body in BUllet if the body is now unused (reference count = 0). + // Called when releasing use of a BSBody. BSShape is handled separately. public void DereferenceBody(BulletBody shape, bool inTaintTime) { if (shape.ptr == IntPtr.Zero) @@ -146,15 +150,17 @@ public class BSShapeCollection : IDisposable Bodies[shape.ID] = bodyDesc; DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", shape.ID, bodyDesc.referenceCount); + // If body is no longer being used, free it -- bodies are never shared. if (bodyDesc.referenceCount == 0) { Bodies.Remove(shape.ID); BSScene.TaintCallback removeOperation = delegate() { - DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. Ptr={1:X}", shape.ID, shape.ptr); - // zero any reference to the shape so it is not freed when the body is deleted + DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}", + shape.ID, shape.ptr.ToString("X")); + // Zero any reference to the shape so it is not freed when the body is deleted. BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, shape.ptr, IntPtr.Zero); - // It may have already been removed from the world in which case the next is a NOOP + // It may have already been removed from the world in which case the next is a NOOP. BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, shape.ptr); BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, shape.ptr); }; @@ -172,19 +178,13 @@ public class BSShapeCollection : IDisposable } } - // Track another user of the shape - private bool ReferenceShape(BulletShape shape) - { - return ReferenceShape(shape, null); - } - // Track the datastructures and use count for a shape. // When creating a hull, this is called first to reference the mesh // and then again to reference the hull. // Meshes and hulls for the same shape have the same hash key. // NOTE that native shapes are not added to the mesh list or removed. // Returns 'true' if this is the initial reference to the shape. Otherwise reused. - private bool ReferenceShape(BulletShape shape, IMesh meshData) + private bool ReferenceShape(BulletShape shape) { bool ret = false; switch (shape.type) @@ -196,16 +196,16 @@ public class BSShapeCollection : IDisposable // There is an existing instance of this mesh. meshDesc.referenceCount++; DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount); + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); } else { // This is a new reference to a mesh - meshDesc.Ptr = shape.ptr; - meshDesc.meshData = meshData; + meshDesc.ptr = shape.ptr; + // We keep a reference to the underlying IMesh data so a hull can be built meshDesc.referenceCount = 1; DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount); + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); ret = true; } meshDesc.lastReferenced = System.DateTime.Now; @@ -215,18 +215,18 @@ public class BSShapeCollection : IDisposable HullDesc hullDesc; if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) { - // There is an existing instance of this mesh. + // There is an existing instance of this hull. hullDesc.referenceCount++; DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount); + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); } else { // This is a new reference to a hull - hullDesc.Ptr = shape.ptr; + hullDesc.ptr = shape.ptr; hullDesc.referenceCount = 1; DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount); + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); ret = true; } @@ -242,7 +242,8 @@ public class BSShapeCollection : IDisposable return ret; } - // Release the usage of a shape + // Release the usage of a shape. + // The collisionObject is released since it is a copy of the real collision shape. private void DereferenceShape(BulletShape shape, bool atTaintTime) { if (shape.ptr == IntPtr.Zero) @@ -254,8 +255,6 @@ public class BSShapeCollection : IDisposable { case ShapeData.PhysicsShapeType.SHAPE_HULL: DereferenceHull(shape); - // Hulls also include a mesh - DereferenceMesh(shape); break; case ShapeData.PhysicsShapeType.SHAPE_MESH: DereferenceMesh(shape); @@ -266,15 +265,24 @@ public class BSShapeCollection : IDisposable // Native shapes are not tracked and are released immediately if (shape.ptr != IntPtr.Zero & shape.isNativeShape) { + DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", + BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime); BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); } break; } }; if (atTaintTime) - dereferenceOperation(); + { + lock (m_collectionActivityLock) + { + dereferenceOperation(); + } + } else + { PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation); + } } // Count down the reference count for a mesh shape @@ -288,8 +296,8 @@ public class BSShapeCollection : IDisposable // TODO: release the Bullet storage meshDesc.lastReferenced = System.DateTime.Now; Meshes[shape.shapeKey] = meshDesc; - DetailLog("{0},BSShapeColliction.DereferenceMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount); + DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}", + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); } } @@ -305,8 +313,8 @@ public class BSShapeCollection : IDisposable // TODO: release the Bullet storage (aging old entries?) hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; - DetailLog("{0},BSShapeColliction.DereferenceHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount); + DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}", + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); } } @@ -322,8 +330,6 @@ public class BSShapeCollection : IDisposable bool haveShape = false; bool nativeShapePossible = true; - BulletShape newShape = new BulletShape(IntPtr.Zero); - // If the prim attributes are simple, this could be a simple Bullet native shape if (nativeShapePossible && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) @@ -340,137 +346,117 @@ public class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) { - newShape = AddNativeShapeToPrim( - prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE); + ret = GetReferenceToNativeShape(prim, shapeData, + ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", - prim.LocalID, forceRebuild,prim.BSShape); - - ret = true; + prim.LocalID, forceRebuild, prim.BSShape); } } else { - // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); haveShape = true; if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX)) { - newShape = AddNativeShapeToPrim( + ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", - prim.LocalID, forceRebuild,prim.BSShape); - - ret = true; + prim.LocalID, forceRebuild, prim.BSShape); } } } - // If a simple shape is not happening, create a mesh and possibly a hull + // If a simple shape is not happening, create a mesh and possibly a hull. // Note that if it's a native shape, the check for physical/non-physical is not // made. Native shapes are best used in either case. if (!haveShape) { if (prim.IsPhysical) { - if (forceRebuild || !Hulls.ContainsKey(shapeData.HullKey)) - { - // physical objects require a hull for interaction. - // This also creates the mesh if it doesn't already exist. - ret = CreateGeomHull(prim, shapeData, pbs); - } - else - { - prim.BSShape = new BulletShape(Hulls[shapeData.HullKey].Ptr, - ShapeData.PhysicsShapeType.SHAPE_HULL); - prim.BSShape.shapeKey = shapeData.HullKey; - // Another user of this shape. - ReferenceShape(prim.BSShape); - ret = true; - } + // Update prim.BSShape to reference a hull of this shape. + ret = GetReferenceToHull(prim, shapeData, pbs); + DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", + shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); } else { - if (forceRebuild || !Meshes.ContainsKey(prim.BSShape.shapeKey)) - { - // Static (non-physical) objects only need a mesh for bumping into - // Returning 'true' means prim.BShape was changed. - ret = CreateGeomMesh(prim, shapeData, pbs); - } - else - { - prim.BSShape = new BulletShape(Hulls[shapeData.MeshKey].Ptr, - ShapeData.PhysicsShapeType.SHAPE_MESH); - prim.BSShape.shapeKey = shapeData.MeshKey; - ReferenceShape(prim.BSShape); - ret = true; - } + ret = GetReferenceToMesh(prim, shapeData, pbs); + DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", + shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); } } return ret; } // Creates a native shape and assignes it to prim.BSShape - private BulletShape AddNativeShapeToPrim( - BSPrim prim, ShapeData shapeData, ShapeData.PhysicsShapeType shapeType, - ShapeData.FixedShapeKey shapeKey) + private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData, + ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) { BulletShape newShape; + shapeData.Type = shapeType; // Bullet native objects are scaled by the Bullet engine so pass the size in prim.Scale = shapeData.Size; - shapeData.Type = shapeType; - shapeData.Scale = prim.Scale; + shapeData.Scale = shapeData.Size; // release any previous shape DereferenceShape(prim.BSShape, true); - // Shape of this discriptioin is not allocated. Create new. - newShape = new BulletShape( - BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); + // Native shapes are always built independently. + newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); newShape.shapeKey = (ulong)shapeKey; newShape.isNativeShape = true; - // Don't to a 'ReferenceShape()' here because native shapes are not tracked. + // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. + DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); prim.BSShape = newShape; - return newShape; + return true; } - // Returns 'true' of a mesh was actually rebuild. + // 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 CreateGeomMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) { BulletShape newShape = new BulletShape(IntPtr.Zero); - // level of detail based on size and type of the object - float lod = PhysicsScene.MeshLOD; - if (pbs.SculptEntry) - lod = PhysicsScene.SculptLOD; - - float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z)); - if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) - lod = PhysicsScene.MeshMegaPrimLOD; - - ulong newMeshKey = (ulong)pbs.GetMeshKey(shapeData.Size, lod); + float lod; + ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); // if this new shape is the same as last time, don't recreate the mesh if (prim.BSShape.shapeKey == newMeshKey) return false; - DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,key={1}", prim.LocalID, newMeshKey); + 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); + newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod); + + 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, ulong newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + { IMesh meshData = null; IntPtr meshPtr; MeshDesc meshDesc; if (Meshes.TryGetValue(newMeshKey, out meshDesc)) { // If the mesh has already been built just use it. - meshPtr = meshDesc.Ptr; + meshPtr = meshDesc.ptr; } else { - // always pass false for physicalness as this creates some sort of bounding box which we don't need - meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, shapeData.Size, lod, false); + // 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); int[] indices = meshData.getIndexListAsInt(); List vertices = meshData.getVertexList(); @@ -490,56 +476,62 @@ public class BSShapeCollection : IDisposable meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, indices.GetLength(0), indices, vertices.Count, verticesAsFloats); } - newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); + BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); newShape.shapeKey = newMeshKey; - ReferenceShape(newShape, meshData); + return newShape; + } - // meshes are already scaled by the meshmerizer + // 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(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + { + BulletShape newShape; + + float lod; + ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod); + + // if the hull hasn't changed, don't rebuild it + if (newHullKey == prim.BSShape.shapeKey) 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. Also removes reference to underlying mesh if it is a hull. + DereferenceShape(prim.BSShape, true); + + newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); + + if (!ReferenceShape(newShape)) + { + PhysicsScene.Logger.ErrorFormat("{0} Created new hull shape but one already exists: id={1}, key={2}, refCnt={3}", + LogHeader, shapeData.ID, newHullKey.ToString("X"), Hulls[newHullKey].referenceCount); + } + // 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 } - // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs). List m_hulls; - private bool CreateGeomHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + private BulletShape CreatePhysicalHull(string objName, ulong newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { - BulletShape newShape; - - // Level of detail for the mesh can be different for sculpties and regular meshes. - float lod = pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD; - - ulong newHullKey = (ulong)pbs.GetMeshKey(shapeData.Size, lod); - - // if the hull hasn't changed, don't rebuild it - if (newHullKey == prim.BSShape.shapeKey) return false; - - DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", prim.LocalID, newHullKey, newHullKey); - - // Remove references to the previous shape. Also removes reference to underlying mesh. - DereferenceShape(prim.BSShape, true); - - // Do not let the mesh dereference itself again. Was done in the above DerefereceShape(). - prim.BSShape.type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; - - // Make sure the underlying mesh exists and is correct. - // Since we're in the hull code, we know CreateGeomMesh() will not create a native shape. - CreateGeomMesh(prim, shapeData, pbs); - MeshDesc meshDesc = Meshes[newHullKey]; IntPtr hullPtr; HullDesc hullDesc; if (Hulls.TryGetValue(newHullKey, out hullDesc)) { // If the hull shape already is created, just use it. - hullPtr = hullDesc.Ptr; + hullPtr = hullDesc.ptr; } else { // Build a new hull in the physical world - int[] indices = meshDesc.meshData.getIndexListAsInt(); - List vertices = meshDesc.meshData.getVertexList(); + // 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); + + int[] indices = meshData.getIndexListAsInt(); + List vertices = meshData.getVertexList(); //format conversion from IMesh format to DecompDesc format List convIndices = new List(); @@ -616,20 +608,13 @@ public class BSShapeCollection : IDisposable } } // create the hull data structure in Bullet - // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, LocalID, _hullKey, hullCount); hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); } - newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); + BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); newShape.shapeKey = newHullKey; - newShape.meshPtr = meshDesc.Ptr; - ReferenceShape(newShape); - - // meshes and 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 + return newShape; // 'true' means a new shape has been added to this prim } // Callback from convex hull creater with a newly created hull. @@ -640,7 +625,30 @@ public class BSShapeCollection : IDisposable return; } - // Create an object in Bullet if it has not already been created. + // Create a hash of all the shape parameters to be used as a key + // for this particular shape. + private ulong 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; + + 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 (ulong)pbs.GetMeshKey(shapeData.Size, lod); + } + // For those who don't want the LOD + private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs) + { + float lod; + return ComputeShapeKey(shapeData, pbs, out lod); + } + + // 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. @@ -665,7 +673,7 @@ public class BSShapeCollection : IDisposable } - if (mustRebuild) + if (mustRebuild || forceRebuild) { DereferenceBody(prim.BSBody, true); @@ -673,13 +681,15 @@ public class BSShapeCollection : IDisposable IntPtr bodyPtr = IntPtr.Zero; if (prim.IsSolid) { - bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, shapeData.Position, shapeData.Rotation); - DetailLog("{0},BSShapeCollection.CreateObject,mesh,ptr={1:X}", prim.LocalID, bodyPtr); + 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.Position, shapeData.Rotation); - DetailLog("{0},BSShapeCollection.CreateObject,ghost,ptr={1:X}", prim.LocalID, bodyPtr); + 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); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 093d2a43e7..5d5d9cb45e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -111,8 +111,12 @@ public class BSTerrainManager BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN), ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE); m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, Vector3.Zero, Quaternion.Identity)); + BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, + Vector3.Zero, Quaternion.Identity)); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); + // Everything collides with the ground plane. + BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr, + (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE); Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION); @@ -304,7 +308,11 @@ public class BSTerrainManager mapInfo.terrainBody = new BulletBody(mapInfo.ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, - centerPos, Quaternion.Identity)); + id, centerPos, Quaternion.Identity)); + + BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); } // Make sure the entry is in the heightmap table diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 8480dd1be3..6910050e88 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -57,9 +57,13 @@ public struct BulletBody { ID = id; ptr = xx; + collisionFilter = 0; + collisionMask = 0; } public IntPtr ptr; public uint ID; + public CollisionFilterGroups collisionFilter; + public CollisionFilterGroups collisionMask; public override string ToString() { StringBuilder buff = new StringBuilder(); @@ -67,6 +71,13 @@ public struct BulletBody buff.Append(ID.ToString()); buff.Append(",p="); buff.Append(ptr.ToString("X")); + if (collisionFilter != 0 && collisionMask != 0) + { + buff.Append(",f="); + buff.Append(collisionFilter.ToString("X")); + buff.Append(",m="); + buff.Append(collisionMask.ToString("X")); + } buff.Append(">"); return buff.ToString(); } @@ -80,7 +91,6 @@ public struct BulletShape type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; shapeKey = 0; isNativeShape = false; - meshPtr = IntPtr.Zero; } public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) { @@ -88,14 +98,12 @@ public struct BulletShape type = typ; shapeKey = 0; isNativeShape = false; - meshPtr = IntPtr.Zero; } public IntPtr ptr; public ShapeData.PhysicsShapeType type; public ulong shapeKey; public bool isNativeShape; // Hulls have an underlying mesh. A pointer to it is hidden here. - public IntPtr meshPtr; public override string ToString() { StringBuilder buff = new StringBuilder(); @@ -107,8 +115,6 @@ public struct BulletShape buff.Append(shapeKey.ToString("X")); buff.Append(",n="); buff.Append(isNativeShape.ToString()); - buff.Append(",m="); - buff.Append(meshPtr.ToString("X")); buff.Append(">"); return buff.ToString(); } @@ -124,7 +130,7 @@ public struct BulletConstraint public IntPtr Ptr; } -// An allocated HeightMapThing which hold various heightmap info +// An allocated HeightMapThing which holds various heightmap info. // Made a class rather than a struct so there would be only one // instance of this and C# will pass around pointers rather // than making copies. @@ -345,21 +351,41 @@ public enum CollisionFlags : uint // Values for collisions groups and masks public enum CollisionFilterGroups : uint { - NoneFilter = 0, - DefaultFilter = 1 << 0, - StaticFilter = 1 << 1, - KinematicFilter = 1 << 2, - DebrisFilter = 1 << 3, - SensorTrigger = 1 << 4, - CharacterFilter = 1 << 5, - AllFilter = 0xFFFFFFFF, + // Don't use the bit definitions!! Define the use in a + // filter/mask definition below. This way collision interactions + // are more easily debugged. + BNoneFilter = 0, + BDefaultFilter = 1 << 0, + BStaticFilter = 1 << 1, + BKinematicFilter = 1 << 2, + BDebrisFilter = 1 << 3, + BSensorTrigger = 1 << 4, + BCharacterFilter = 1 << 5, + BAllFilter = 0xFFFFFFFF, // Filter groups defined by BulletSim - GroundPlaneFilter = 1 << 10, - TerrainFilter = 1 << 11, - RaycastFilter = 1 << 12, - SolidFilter = 1 << 13, + BGroundPlaneFilter = 1 << 10, + BTerrainFilter = 1 << 11, + BRaycastFilter = 1 << 12, + BSolidFilter = 1 << 13, + + // The collsion filters and masked are defined in one place -- don't want them scattered + AvatarFilter = BDefaultFilter | BCharacterFilter | BSolidFilter, + AvatarMask = BAllFilter, + ObjectFilter = BDefaultFilter | BSolidFilter, + ObjectMask = BAllFilter, + StaticObjectFilter = BDefaultFilter | BStaticFilter | BSolidFilter, + StaticObjectMask = BAllFilter, + VolumeDetectFilter = BSensorTrigger, + VolumeDetectMask = ~BSensorTrigger, + TerrainFilter = BTerrainFilter, + TerrainMask = BAllFilter, + GroundPlaneFilter = BAllFilter, + GroundPlaneMask = BAllFilter + }; + + // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. public enum ConstraintParams : int @@ -560,7 +586,7 @@ public static extern IntPtr CreateHullShape2(IntPtr world, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildHullShape2(IntPtr world, IntPtr meshShape); +public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); @@ -581,7 +607,7 @@ public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr re public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo); +public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); @@ -590,13 +616,13 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); public static extern int GetBodyType2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); +public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); +public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); +public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr AllocateBodyInfo2(IntPtr obj); @@ -1015,6 +1041,9 @@ public static extern Vector3 GetPushVelocity2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetTurnVelocity2(IntPtr obj); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask); + // ===================================================================================== // btCollisionShape entries @@ -1066,9 +1095,6 @@ public static extern void SetMargin2(IntPtr shape, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetMargin2(IntPtr shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask); - // ===================================================================================== // Debugging [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini index bd83bee789..6e6a089d7f 100644 --- a/bin/OpenSimDefaults.ini +++ b/bin/OpenSimDefaults.ini @@ -936,10 +936,10 @@ MaxPersistantManifoldPoolSize = 0 ShouldDisableContactPoolDynamicAllocation = False ShouldForceUpdateAllAabbs = False - ShouldRandomizeSolverOrder = False - ShouldSplitSimulationIslands = False + ShouldRandomizeSolverOrder = True + ShouldSplitSimulationIslands = True ShouldEnableFrictionCaching = False - NumberOfSolverIterations = 0; + NumberOfSolverIterations = 0 ; Linkset constraint parameters LinkConstraintUseFrameOffset = False