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BulletSim: add class and infrastructure for shape and object

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tracking in the C# code. Needed for the changing body type
    (to and from GhostObjects) for volumeDetect.
This commit is contained in:
Robert Adams
2012-09-19 08:21:29 -07:00
parent 91efccabdc
commit a27e4ce6cb
5 changed files with 193 additions and 40 deletions
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93
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@@ -38,31 +38,54 @@ namespace OpenSim.Region.Physics.BulletSPlugin {
// The physics engine controller class created at initialization
public struct BulletSim
{
public BulletSim(uint worldId, BSScene bss, IntPtr xx) { worldID = worldId; scene = bss; Ptr = xx; }
public BulletSim(uint worldId, BSScene bss, IntPtr xx)
{
worldID = worldId; scene = bss; Ptr = xx;
}
public uint worldID;
// The scene is only in here so very low level routines have a handle to print debug/error messages
public BSScene scene;
public IntPtr Ptr;
}
public struct BulletShape
{
public BulletShape(IntPtr xx) { Ptr = xx; }
public IntPtr Ptr;
}
// An allocated Bullet btRigidBody
public struct BulletBody
{
public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; }
public BulletBody(uint id, IntPtr xx)
{
ID = id;
Ptr = xx;
}
public IntPtr Ptr;
public uint ID;
}
public struct BulletShape
{
public BulletShape(IntPtr xx)
{
Ptr = xx;
type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
hashKey = 0;
}
public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
{
Ptr = xx;
type = typ;
hashKey = 0;
}
public IntPtr Ptr;
public ShapeData.PhysicsShapeType type;
public ulong hashKey;
}
// An allocated Bullet btConstraint
public struct BulletConstraint
{
public BulletConstraint(IntPtr xx) { Ptr = xx; }
public BulletConstraint(IntPtr xx)
{
Ptr = xx;
}
public IntPtr Ptr;
}
@@ -96,14 +119,14 @@ public class BulletHeightMapInfo
// ===============================================================================
[StructLayout(LayoutKind.Sequential)]
public struct ConvexHull
public struct ConvexHull
{
Vector3 Offset;
int VertexCount;
Vector3[] Vertices;
}
[StructLayout(LayoutKind.Sequential)]
public struct ShapeData
public struct ShapeData
{
public enum PhysicsShapeType
{
@@ -114,7 +137,9 @@ public struct ShapeData
SHAPE_CYLINDER = 4,
SHAPE_SPHERE = 5,
SHAPE_MESH = 6,
SHAPE_HULL = 7
SHAPE_HULL = 7,
SHAPE_GROUNDPLANE = 8,
SHAPE_TERRAIN = 9,
};
public uint ID;
public PhysicsShapeType Type;
@@ -136,7 +161,7 @@ public struct ShapeData
public const float numericFalse = 0f;
}
[StructLayout(LayoutKind.Sequential)]
public struct SweepHit
public struct SweepHit
{
public uint ID;
public float Fraction;
@@ -227,7 +252,17 @@ public enum ActivationState : uint
ISLAND_SLEEPING,
WANTS_DEACTIVATION,
DISABLE_DEACTIVATION,
DISABLE_SIMULATION
DISABLE_SIMULATION,
}
public enum CollisionObjectTypes : int
{
CO_COLLISION_OBJECT = 1 << 0,
CO_RIGID_BODY = 1 << 1,
CO_GHOST_OBJECT = 1 << 2,
CO_SOFT_BODY = 1 << 3,
CO_HF_FLUID = 1 << 4,
CO_USER_TYPE = 1 << 5,
}
// Values used by Bullet and BulletSim to control object properties.
@@ -313,8 +348,8 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg
public static extern string GetVersion();
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
int maxCollisions, IntPtr collisionArray,
public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
int maxCollisions, IntPtr collisionArray,
int maxUpdates, IntPtr updateArray,
DebugLogCallback logRoutine);
@@ -333,19 +368,19 @@ public static extern bool UpdateParameter(uint worldID, uint localID,
// ===============================================================================
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
out int updatedEntityCount,
public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
out int updatedEntityCount,
out IntPtr updatedEntitiesPtr,
out int collidersCount,
out IntPtr collidersPtr);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
);
@@ -459,7 +494,7 @@ 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 int updatedEntityCount,
out IntPtr updatedEntitiesPtr,
out int collidersCount,
out IntPtr collidersPtr);
@@ -470,8 +505,8 @@ public static extern bool PushUpdate2(IntPtr obj);
// =====================================================================================
// Mesh, hull, shape and body creation helper routines
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateMeshShape2(IntPtr world,
int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
public static extern IntPtr CreateMeshShape2(IntPtr world,
int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -503,12 +538,18 @@ public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
@@ -521,11 +562,11 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
// =====================================================================================
// Terrain creation and helper routines
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -563,7 +604,7 @@ public static extern void SetConstraintEnable2(IntPtr constrain, float numericTr
public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetFrames2(IntPtr constrain,
public static extern bool SetFrames2(IntPtr constrain,
Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]