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BulletSim: clean up some variable naming for consistancy.

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Update DLL API for new terrain and shape/body pattern methods.
Terrain creation and modification uses new shape/body pattern.
Move debug logging callback set to initialization call so logging
   is per physics engine.
This commit is contained in:
Robert Adams
2012-08-29 09:20:09 -07:00
parent d3adf9b2b3
commit ae852bb873
4 changed files with 183 additions and 102 deletions
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55
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@@ -38,13 +38,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin {
// 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; }
public uint ID;
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
{
@@ -66,18 +72,22 @@ public struct BulletConstraint
// than making copies.
public class BulletHeightMapInfo
{
public BulletHeightMapInfo(IntPtr xx, float[] hm) {
public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
ID = id;
Ptr = xx;
heightMap = hm;
terrainRegionBase = new Vector2(0f, 0f);
maxRegionExtent = new Vector3(100f, 100f, 25f);
minCoords = new Vector3(100f, 100f, 25f);
maxCoords = new Vector3(101f, 101f, 26f);
minZ = maxZ = 0f;
sizeX = sizeY = 256f;
}
public uint ID;
public IntPtr Ptr;
public float[] heightMap;
public Vector2 terrainRegionBase;
public Vector3 maxRegionExtent;
public Vector3 minCoords;
public Vector3 maxCoords;
public float sizeX, sizeY;
public float minZ, maxZ;
}
@@ -248,6 +258,10 @@ public enum ConstraintParamAxis : int
// ===============================================================================
static class BulletSimAPI {
// Link back to the managed code for outputting log messages
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
[return: MarshalAs(UnmanagedType.LPStr)]
public static extern string GetVersion();
@@ -255,7 +269,8 @@ public static extern string GetVersion();
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
int maxCollisions, IntPtr collisionArray,
int maxUpdates, IntPtr updateArray);
int maxUpdates, IntPtr updateArray,
DebugLogCallback logRoutine);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
@@ -372,8 +387,6 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
public static extern void DumpBulletStatistics();
// Log a debug message
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetDebugLogCallback(DebugLogCallback callback);
@@ -407,7 +420,7 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetHeightmap2(IntPtr world, float[] heightmap);
public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void Shutdown2(IntPtr sim);
@@ -442,25 +455,31 @@ public static extern IntPtr BuildNativeShape2(IntPtr world,
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
[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 bool ReplaceBodyShape2(IntPtr sim, IntPtr obj, IntPtr shape);
// =====================================================================================
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateGroundPlaneBody2(uint id, float height, float collisionMargin);
public static extern IntPtr CreateHeightMapInfo2(uint id, Vector3 minCoords, Vector3 maxCoords,
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateTerrainBody2(uint id,
IntPtr heightMapInfo,
float collisionMargin);
public static extern IntPtr FillHeightMapInfo2(IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateHeightmap2(Vector3 minCoords, Vector3 maxCoords,
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool ReleaseHeightmapInfo2(IntPtr heightMapInfo);
public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void UpdateHeightMap2(IntPtr world, IntPtr heightMapInfo,
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
// =====================================================================================
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]