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BulletSim: Changes to terrain storage and management so mega-regions work.

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Moved all terrain code out of BSScene and into new BSTerrainManager.
Added logic to manage multiple terrains for mega-regions.
Added new functions to BulletSimAPI to match the library.
Moved all of the terrain creation and setup logic from C++ code to C# code.
    The unused code has not yet been removed from either place. Soon.
Moved checks for avatar above ground and in bounds into BSCharacter.
This commit is contained in:
Robert Adams
2012-08-25 23:18:46 -07:00
parent 7b6987ce83
commit 7c140570db
8 changed files with 597 additions and 185 deletions
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61
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@@ -33,6 +33,9 @@ using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin {
// Classes to allow some type checking for the API
// These hold pointers to allocated objects in the unmanaged space.
// The physics engine controller class created at initialization
public struct BulletSim
{
public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; }
@@ -42,6 +45,7 @@ public struct BulletSim
public IntPtr Ptr;
}
// An allocated Bullet btRigidBody
public struct BulletBody
{
public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; }
@@ -49,12 +53,35 @@ public struct BulletBody
public uint ID;
}
// An allocated Bullet btConstraint
public struct BulletConstraint
{
public BulletConstraint(IntPtr xx) { Ptr = xx; }
public IntPtr Ptr;
}
// An allocated HeightMapThing which hold 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.
public class BulletHeightMapInfo
{
public BulletHeightMapInfo(IntPtr xx, float[] hm) {
Ptr = xx;
heightMap = hm;
terrainRegionBase = new Vector2(0f, 0f);
maxRegionExtent = new Vector3(100f, 100f, 25f);
minZ = maxZ = 0f;
sizeX = sizeY = 256f;
}
public IntPtr Ptr;
public float[] heightMap;
public Vector2 terrainRegionBase;
public Vector3 maxRegionExtent;
public float sizeX, sizeY;
public float minZ, maxZ;
}
// ===============================================================================
[StructLayout(LayoutKind.Sequential)]
public struct ConvexHull
@@ -230,6 +257,9 @@ public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
int maxCollisions, IntPtr collisionArray,
int maxUpdates, IntPtr updateArray);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
@@ -414,12 +444,23 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
// =====================================================================================
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateGroundPlaneBody2(uint id, Vector3 center, float collisionMargin);
public static extern IntPtr CreateGroundPlaneBody2(uint id, float height, float collisionMargin);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateTerrainBody2(uint id,
Vector3 minCoords, Vector3 maxCoords, float collisionMargin,
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
IntPtr heightMapInfo,
float collisionMargin);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateHeightmap2(Vector3 minCoords, Vector3 maxCoords,
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool ReleaseHeightmapInfo2(IntPtr heightMapInfo);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void UpdateHeightMap2(IntPtr world, IntPtr heightMapInfo,
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
// =====================================================================================
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -473,11 +514,16 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
// =====================================================================================
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj);
public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
// =====================================================================================
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void Activate2(IntPtr obj, bool forceActivation);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetPosition2(IntPtr obj);
@@ -521,6 +567,9 @@ public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetFriction2(IntPtr obj, float val);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetHitFraction2(IntPtr obj, float val);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetRestitution2(IntPtr obj, float val);
@@ -564,7 +613,7 @@ public static extern bool SetMargin2(IntPtr obj, float val);
public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool DestroyObject2(IntPtr world, uint id);
public static extern bool DestroyObject2(IntPtr world, IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpPhysicsStatistics2(IntPtr sim);