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BulletSim: more detail logging for vehicle and general physics debugging.

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Physical linksets are fully functional.
Tweeking of the vehicle code to make it semi-work.
Utilize the new API2 for some setting operations.
Add GetOrientation() API call for proper reporting of children of linksets.
Changes the interface between C# and C++ code so old DLLs won't work!
This commit is contained in:
Robert Adams
2012-07-20 14:08:29 -07:00
parent 24dfb5bcb3
commit ca3b6b1f90
4 changed files with 244 additions and 75 deletions
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51
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@@ -146,6 +146,22 @@ public struct ConfigurationParameters
public const float numericFalse = 0f;
}
// Values used by Bullet and BulletSim to control collisions
public enum CollisionFlags : uint
{
STATIC_OBJECT = 1 << 0,
KINEMATIC_OBJECT = 1 << 1,
NO_CONTACT_RESPONSE = 1 << 2,
CUSTOM_MATERIAL_CALLBACK = 1 << 3,
CHARACTER_OBJECT = 1 << 4,
DISABLE_VISUALIZE_OBJECT = 1 << 5,
DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
// Following used by BulletSim to control collisions
VOLUME_DETECT_OBJECT = 1 << 10,
PHANTOM_OBJECT = 1 << 11,
PHYSICAL_OBJECT = 1 << 12,
};
static class BulletSimAPI {
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -213,6 +229,9 @@ public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Quaternion GetObjectOrientation(uint WorldID, uint id);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
@@ -268,5 +287,37 @@ public static extern void DumpBulletStatistics();
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetDebugLogCallback(DebugLogCallback callback);
// ===============================================================================
// ===============================================================================
// ===============================================================================
// A new version of the API that moves all the logic out of the C++ code and into
// the C# code. This will make modifications easier for the next person.
// This interface passes the actual pointers to the objects in the unmanaged
// address space. All the management (calls for creation/destruction/lookup)
// is done in the C# code.
// The names have a 2 tacked on. This will be removed as the code gets rebuilt
// and the old code is removed from the C# code.
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GetSimHandle2(uint worldID);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr ClearForces2(IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags);
}
}