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BulletSim: rename some constraint variables to be consistant with other name use.

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Added callbacks for shape and body changes in GetBodyAndShape() so the linkset
    constraints can be picked up and restored. A better design might be to have
    a "prim shape changed" event. Think about that.
Added constraint types to general constraint class.
This commit is contained in:
Robert Adams
2012-09-27 19:57:35 -07:00
parent 7b65985047
commit 74dea4cfd5
7 changed files with 232 additions and 117 deletions
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65
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
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@@ -81,12 +81,21 @@ public class BSShapeCollection : IDisposable
// TODO!!!!!!!!!
}
// Callbacks called just before either the body or shape is destroyed.
// Mostly used for changing bodies out from under Linksets.
// Useful for other cases where parameters need saving.
// Passing 'null' says no callback.
public delegate void ShapeDestructionCallback(BulletShape shape);
public delegate void BodyDestructionCallback(BulletBody body);
// Called to update/change the body and shape for an object.
// First checks the shape and updates that if necessary then makes
// sure the body is of the right type.
// Return 'true' if either the body or the shape changed.
// Called at taint-time!!
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs)
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim,
ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
{
bool ret = false;
@@ -95,11 +104,11 @@ public class BSShapeCollection : IDisposable
{
// 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);
bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
// 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);
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback);
ret = newGeom || newBody;
}
DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}",
@@ -135,7 +144,7 @@ public class BSShapeCollection : IDisposable
// Release the usage of a body.
// Called when releasing use of a BSBody. BSShape is handled separately.
public void DereferenceBody(BulletBody shape, bool inTaintTime)
public void DereferenceBody(BulletBody shape, bool inTaintTime, BodyDestructionCallback bodyCallback )
{
if (shape.ptr == IntPtr.Zero)
return;
@@ -244,7 +253,7 @@ public class BSShapeCollection : IDisposable
// 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)
private void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback)
{
if (shape.ptr == IntPtr.Zero)
return;
@@ -254,10 +263,10 @@ public class BSShapeCollection : IDisposable
switch (shape.type)
{
case ShapeData.PhysicsShapeType.SHAPE_HULL:
DereferenceHull(shape);
DereferenceHull(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_MESH:
DereferenceMesh(shape);
DereferenceMesh(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
break;
@@ -267,6 +276,7 @@ public class BSShapeCollection : IDisposable
{
DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime);
if (shapeCallback != null) shapeCallback(shape);
BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
}
break;
@@ -287,13 +297,14 @@ public class BSShapeCollection : IDisposable
// Count down the reference count for a mesh shape
// Called at taint-time.
private void DereferenceMesh(BulletShape shape)
private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
{
MeshDesc meshDesc;
if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
{
meshDesc.referenceCount--;
// TODO: release the Bullet storage
if (shapeCallback != null) shapeCallback(shape);
meshDesc.lastReferenced = System.DateTime.Now;
Meshes[shape.shapeKey] = meshDesc;
DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}",
@@ -304,13 +315,14 @@ public class BSShapeCollection : IDisposable
// Count down the reference count for a hull shape
// Called at taint-time.
private void DereferenceHull(BulletShape shape)
private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
{
HullDesc hullDesc;
if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
{
hullDesc.referenceCount--;
// TODO: release the Bullet storage (aging old entries?)
if (shapeCallback != null) shapeCallback(shape);
hullDesc.lastReferenced = System.DateTime.Now;
Hulls[shape.shapeKey] = hullDesc;
DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}",
@@ -324,7 +336,8 @@ public class BSShapeCollection : IDisposable
// if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
// Returns 'true' if the geometry was rebuilt.
// Called at taint-time!
private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs)
private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData,
PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
{
bool ret = false;
bool haveShape = false;
@@ -349,8 +362,8 @@ public class BSShapeCollection : IDisposable
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
)
{
ret = GetReferenceToNativeShape(prim, shapeData,
ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_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);
}
@@ -363,8 +376,8 @@ public class BSShapeCollection : IDisposable
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
)
{
ret = GetReferenceToNativeShape(
prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_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);
}
@@ -378,13 +391,13 @@ public class BSShapeCollection : IDisposable
if (prim.IsPhysical)
{
// Update prim.BSShape to reference a hull of this shape.
ret = GetReferenceToHull(prim, shapeData, pbs);
ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
}
else
{
ret = GetReferenceToMesh(prim, shapeData, pbs);
ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
}
@@ -394,7 +407,8 @@ public class BSShapeCollection : IDisposable
// Creates a native shape and assignes it to prim.BSShape
private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData,
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey)
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape;
@@ -404,7 +418,7 @@ public class BSShapeCollection : IDisposable
shapeData.Scale = shapeData.Size;
// release any previous shape
DereferenceShape(prim.BSShape, true);
DereferenceShape(prim.BSShape, true, shapeCallback);
// Native shapes are always built independently.
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
@@ -422,7 +436,8 @@ public class BSShapeCollection : IDisposable
// 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 GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs)
private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape = new BulletShape(IntPtr.Zero);
@@ -436,7 +451,7 @@ public class BSShapeCollection : IDisposable
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);
DereferenceShape(prim.BSShape, true, shapeCallback);
newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
@@ -490,7 +505,8 @@ public class BSShapeCollection : IDisposable
// 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)
private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape;
@@ -505,7 +521,7 @@ public class BSShapeCollection : IDisposable
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);
DereferenceShape(prim.BSShape, true, shapeCallback);
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
@@ -656,7 +672,8 @@ public class BSShapeCollection : IDisposable
// 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.
private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, ShapeData shapeData)
private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape,
ShapeData shapeData, BodyDestructionCallback bodyCallback)
{
bool ret = false;
@@ -679,7 +696,7 @@ public class BSShapeCollection : IDisposable
if (mustRebuild || forceRebuild)
{
DereferenceBody(prim.BSBody, true);
DereferenceBody(prim.BSBody, true, bodyCallback);
BulletBody aBody;
IntPtr bodyPtr = IntPtr.Zero;