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BulletSim: Parameters settable from ini file. Linksets. Physical property value tuning

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This commit is contained in:
Robert Adams
2011-08-05 11:01:27 -07:00
committed by Mic Bowman
parent a95f2fe4b3
commit 7640b5abf6
8 changed files with 356 additions and 211 deletions
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44
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@@ -32,12 +32,14 @@ using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin {
[StructLayout(LayoutKind.Sequential)]
public struct ConvexHull
{
Vector3 Offset;
int VertexCount;
Vector3[] Vertices;
}
[StructLayout(LayoutKind.Sequential)]
public struct ShapeData
{
public enum PhysicsShapeType
@@ -49,6 +51,7 @@ public struct ShapeData
SHAPE_SPHERE = 4,
SHAPE_HULL = 5
};
// note that bools are passed as ints since bool size changes by language
public const int numericTrue = 1;
public const int numericFalse = 0;
public uint ID;
@@ -60,11 +63,12 @@ public struct ShapeData
public float Mass;
public float Buoyancy;
public System.UInt64 MeshKey;
public int Collidable;
public float Friction;
public float Restitution;
public int Collidable;
public int Static; // true if a static object. Otherwise gravity, etc.
// note that bools are passed as ints since bool size changes by language
}
[StructLayout(LayoutKind.Sequential)]
public struct SweepHit
{
public uint ID;
@@ -72,12 +76,14 @@ public struct SweepHit
public Vector3 Normal;
public Vector3 Point;
}
[StructLayout(LayoutKind.Sequential)]
public struct RaycastHit
{
public uint ID;
public float Fraction;
public Vector3 Normal;
}
[StructLayout(LayoutKind.Sequential)]
public struct CollisionDesc
{
public uint aID;
@@ -85,6 +91,7 @@ public struct CollisionDesc
public Vector3 point;
public Vector3 normal;
}
[StructLayout(LayoutKind.Sequential)]
public struct EntityProperties
{
public uint ID;
@@ -92,13 +99,42 @@ public struct EntityProperties
public Quaternion Rotation;
public Vector3 Velocity;
public Vector3 Acceleration;
public Vector3 AngularVelocity;
public Vector3 RotationalVelocity;
}
// Format of this structure must match the definition in the C++ code
[StructLayout(LayoutKind.Sequential)]
public struct ConfigurationParameters
{
public float defaultFriction;
public float defaultDensity;
public float defaultRestitution;
public float collisionMargin;
public float gravity;
public float linearDamping;
public float angularDamping;
public float deactivationTime;
public float linearSleepingThreshold;
public float angularSleepingThreshold;
public float ccdMotionThreshold;
public float ccdSweptSphereRadius;
public float terrainFriction;
public float terrainHitFriction;
public float terrainRestitution;
public float avatarFriction;
public float avatarDensity;
public float avatarRestitution;
public float avatarCapsuleRadius;
public float avatarCapsuleHeight;
}
static class BulletSimAPI {
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern uint Initialize(Vector3 maxPosition, int maxCollisions, IntPtr collisionArray,
public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
int maxCollisions, IntPtr collisionArray,
int maxUpdates, IntPtr updateArray);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]