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* Moves the Meshmerizer to a separate plugin

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* Experimental.   Linux Prebuild needs testing.
* One more update after this to remove the ODEMeshing directory....
This commit is contained in:
Teravus Ovares
2007-11-10 19:13:52 +00:00
parent 43ea37b5a0
commit cb07ba0d68
18 changed files with 1996 additions and 68 deletions
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145
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
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@@ -64,6 +64,7 @@ using System;
using System.Collections.Generic;
using MonoXnaCompactMaths;
using OpenSim.Framework;
using OpenSim.Framework.Console;
using OpenSim.Region.Physics.Manager;
using XnaDevRu.BulletX;
using XnaDevRu.BulletX.Dynamics;
@@ -74,15 +75,6 @@ using BoxShape=XnaDevRu.BulletX.BoxShape;
namespace OpenSim.Region.Physics.BulletXPlugin
{
/// <summary>
/// This class is only here for compilations reasons
/// </summary>
public class Mesh
{
public Mesh()
{
}
}
/// <summary>
/// BulletXConversions are called now BulletXMaths
@@ -268,6 +260,65 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
// Class to detect and debug collisions
// Mainly used for debugging purposes
class CollisionDispatcherLocal : CollisionDispatcher
{
BulletXScene relatedScene;
public CollisionDispatcherLocal(BulletXScene s)
: base()
{
relatedScene=s;
}
public override bool NeedsCollision(CollisionObject bodyA, CollisionObject bodyB)
{
RigidBody rb;
BulletXCharacter bxcA=null;
BulletXPrim bxpA = null;
Type t = bodyA.GetType();
if (t==typeof(RigidBody)) {
rb = (RigidBody)bodyA;
relatedScene._characters.TryGetValue(rb, out bxcA);
relatedScene._prims.TryGetValue(rb, out bxpA);
}
String nameA;
if (bxcA != null)
nameA = bxcA._name;
else if (bxpA != null)
nameA = bxpA._name;
else
nameA = "null";
BulletXCharacter bxcB = null;
BulletXPrim bxpB = null;
t = bodyB.GetType();
if (t == typeof(RigidBody))
{
rb = (RigidBody)bodyB;
relatedScene._characters.TryGetValue(rb, out bxcB);
relatedScene._prims.TryGetValue(rb, out bxpB);
}
String nameB;
if (bxcB != null)
nameB = bxcB._name;
else if (bxpB != null)
nameB = bxpB._name;
else
nameB = "null";
bool needsCollision=base.NeedsCollision(bodyA, bodyB);
MainLog.Instance.Debug("BulletX", "A collision was detected between {0} and {1} --> {2}", nameA, nameB, needsCollision);
return needsCollision;
}
}
/// <summary>
/// PhysicsScene Class for BulletX
/// </summary>
@@ -294,8 +345,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
private const int simulationSubSteps = 10;
//private float[] _heightmap;
private BulletXPlanet _simFlatPlanet;
private List<BulletXCharacter> _characters = new List<BulletXCharacter>();
private List<BulletXPrim> _prims = new List<BulletXPrim>();
internal Dictionary<RigidBody, BulletXCharacter> _characters = new Dictionary<RigidBody, BulletXCharacter>();
internal Dictionary<RigidBody, BulletXPrim> _prims = new Dictionary<RigidBody, BulletXPrim>();
public IMesher mesher;
public static float Gravity
{
@@ -334,7 +388,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
public BulletXScene()
{
cDispatcher = new CollisionDispatcher();
cDispatcher = new CollisionDispatcherLocal(this);
Vector3 worldMinDim = new Vector3((float) minXY, (float) minXY, (float) minZ);
Vector3 worldMaxDim = new Vector3((float) maxXY, (float) maxXY, (float) maxZ);
opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
@@ -348,6 +402,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
//this._heightmap = new float[65536];
}
public override void Initialise(IMesher meshmerizer)
{
mesher = meshmerizer;
}
public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
{
PhysicsVector pos = new PhysicsVector();
@@ -358,7 +418,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
lock (BulletXLock)
{
newAv = new BulletXCharacter(avName, this, pos);
_characters.Add(newAv);
_characters.Add(newAv.RigidBody, newAv);
}
return newAv;
}
@@ -379,7 +439,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
((BulletXCharacter) actor).RigidBody.ActivationState = ActivationState.DisableSimulation;
AddForgottenRigidBody(((BulletXCharacter) actor).RigidBody);
}
_characters.Remove((BulletXCharacter) actor);
_characters.Remove(((BulletXCharacter)actor).RigidBody);
}
GC.Collect();
}
@@ -405,7 +465,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
else
{
Mesh mesh = null;
IMesh mesh = mesher.CreateMesh(primName, pbs, size);
result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
}
break;
@@ -419,13 +479,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation,
Mesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
{
BulletXPrim newPrim = null;
lock (BulletXLock)
{
newPrim = new BulletXPrim(name, this, position, size, rotation, mesh, pbs, isPhysical);
_prims.Add(newPrim);
_prims.Add(newPrim.RigidBody, newPrim);
}
return newPrim;
}
@@ -446,7 +506,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
((BulletXPrim) prim).RigidBody.ActivationState = ActivationState.DisableSimulation;
AddForgottenRigidBody(((BulletXPrim) prim).RigidBody);
}
_prims.Remove((BulletXPrim) prim);
_prims.Remove(((BulletXPrim) prim).RigidBody);
}
GC.Collect();
}
@@ -470,11 +530,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
private void MoveAllObjects(float timeStep)
{
foreach (BulletXCharacter actor in _characters)
foreach (BulletXCharacter actor in _characters.Values)
{
actor.Move(timeStep);
}
foreach (BulletXPrim prim in _prims)
foreach (BulletXPrim prim in _prims.Values)
{
}
}
@@ -482,14 +542,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
private void ValidateHeightForAll()
{
float _height;
foreach (BulletXCharacter actor in _characters)
foreach (BulletXCharacter actor in _characters.Values)
{
//_height = HeightValue(actor.RigidBodyPosition);
_height = _simFlatPlanet.HeightValue(actor.RigidBodyPosition);
actor.ValidateHeight(_height);
//if (_simFlatPlanet.heightIsNotValid(actor.RigidBodyPosition, out _height)) actor.ValidateHeight(_height);
}
foreach (BulletXPrim prim in _prims)
foreach (BulletXPrim prim in _prims.Values)
{
//_height = HeightValue(prim.RigidBodyPosition);
_height = _simFlatPlanet.HeightValue(prim.RigidBodyPosition);
@@ -510,11 +570,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
//UpdatePosition > UpdateKinetics.
//Not only position will be updated, also velocity cause acceleration.
foreach (BulletXCharacter actor in _characters)
foreach (BulletXCharacter actor in _characters.Values)
{
actor.UpdateKinetics();
}
foreach (BulletXPrim prim in _prims)
foreach (BulletXPrim prim in _prims.Values)
{
prim.UpdateKinetics();
}
@@ -646,9 +706,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
protected PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
protected RigidBody rigidBody;
private Boolean iscolliding = false;
internal string _name;
public BulletXActor()
public BulletXActor(String name)
{
_name = name;
}
public override PhysicsVector Position
@@ -847,6 +909,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation)
: base(avName)
{
//This fields will be removed. They're temporal
float _sizeX = 0.5f;
@@ -1016,14 +1079,15 @@ namespace OpenSim.Region.Physics.BulletXPlugin
private bool m_lastUpdateSent = false;
public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size,
AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
AxiomQuaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
: this(primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs, isPhysical)
{
}
public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
PhysicsVector size,
PhysicsVector acceleration, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs,
PhysicsVector acceleration, AxiomQuaternion rotation, IMesh mesh, PrimitiveBaseShape pbs,
bool isPhysical)
: base(primName)
{
if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0");
if (rotation.Norm == 0f) rotation = AxiomQuaternion.Identity;
@@ -1037,7 +1101,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
_parent_scene = parent_scene;
CreateRigidBody(parent_scene, pos, size);
CreateRigidBody(parent_scene, mesh, pos, size);
}
public override PhysicsVector Position
@@ -1191,7 +1255,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
#region Methods for updating values of RigidBody
internal protected void CreateRigidBody(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size)
internal protected void CreateRigidBody(BulletXScene parent_scene, IMesh mesh, PhysicsVector pos, PhysicsVector size)
{
//For RigidBody Constructor. The next values might change
float _linearDamping = 0.0f;
@@ -1204,7 +1268,26 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
_startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
//For now all prims are boxes
CollisionShape _collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(size) / 2.0f);
CollisionShape _collisionShape;
if (mesh == null)
{
_collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(size) / 2.0f);
} else {
int iVertexCount = mesh.getVertexList().Count;
int[] indices = mesh.getIndexListAsInt();
Vector3[] v3Vertices = new Vector3[iVertexCount];
for (int i = 0; i < iVertexCount; i++)
{
PhysicsVector v=mesh.getVertexList()[i];
if (v != null) // Note, null has special meaning. See meshing code for details
v3Vertices[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
else
v3Vertices[i] = MonoXnaCompactMaths.Vector3.Zero;
}
TriangleIndexVertexArray triMesh = new TriangleIndexVertexArray(indices, v3Vertices);
_collisionShape = new XnaDevRu.BulletX.TriangleMeshShape(triMesh);
}
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
Vector3 _localInertia = new Vector3();
if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
@@ -1231,7 +1314,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
rigidBody.ActivationState = ActivationState.DisableSimulation;
this._parent_scene.AddForgottenRigidBody(rigidBody);
}
CreateRigidBody(this._parent_scene, this._position, size);
CreateRigidBody(this._parent_scene, null, this._position, size); // Note, null for the meshing definitely is wrong. It's here for the moment to apease the compiler
if (_physical) Speed();//Static objects don't have linear velocity
ReOrient();
GC.Collect();

161
OpenSim/Region/Physics/BulletXPlugin/TriangleIndexVertexArray.cs Normal file
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@@ -0,0 +1,161 @@
/*
Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
/*
This file contains a class TriangleIndexVertexArray. I tried using the class with the same name
from the BulletX implementation and found it unusable for the purpose of using triangle meshes
within BulletX as the implementation was painfully incomplete.
The attempt to derive from the original class failed as viable members were hidden.
Fiddling around with BulletX itself was not my intention.
So I copied the class to the BulletX-plugin and modified it.
If you want to fiddle around with it it's up to you to move all this to BulletX.
If someone someday implements the missing functionality in BulletX, feel free to remove this class.
It's just an ugly hack.
*/
using System;
using System.Collections.Generic;
using System.Text;
using MonoXnaCompactMaths;
namespace OpenSim.Region.Physics.BulletXPlugin
{
/// <summary>
/// IndexedMesh indexes into existing vertex and index arrays, in a similar way OpenGL glDrawElements
/// instead of the number of indices, we pass the number of triangles
/// </summary>
public struct IndexedMesh
{
private int _numTriangles;
private int[] _triangleIndexBase;
private int _triangleIndexStride;
private int _numVertices;
private Vector3[] _vertexBase;
private int _vertexStride;
public IndexedMesh(int numTriangleIndices, int[] triangleIndexBase, int triangleIndexStride, int numVertices, Vector3[] vertexBase, int vertexStride)
{
_numTriangles = numTriangleIndices;
_triangleIndexBase = triangleIndexBase;
_triangleIndexStride = triangleIndexStride;
_vertexBase = vertexBase;
_numVertices = numVertices;
_vertexStride = vertexStride;
}
public IndexedMesh(int[] triangleIndexBase, Vector3[] vertexBase)
{
_numTriangles = triangleIndexBase.Length;
_triangleIndexBase = triangleIndexBase;
_triangleIndexStride = 32;
_vertexBase = vertexBase;
_numVertices = vertexBase.Length;
_vertexStride = 24;
}
public int TriangleCount { get { return _numTriangles; } set { _numTriangles = value; } }
public int[] TriangleIndexBase { get { return _triangleIndexBase; } set { _triangleIndexBase = value; } }
public int TriangleIndexStride { get { return _triangleIndexStride; } set { _triangleIndexStride = value; } }
public int VertexCount { get { return _numVertices; } set { _numVertices = value; } }
public Vector3[] VertexBase { get { return _vertexBase; } set { _vertexBase = value; } }
public int VertexStride { get { return _vertexStride; } set { _vertexStride = value; } }
}
/// <summary>
/// TriangleIndexVertexArray allows to use multiple meshes, by indexing into existing triangle/index arrays.
/// Additional meshes can be added using addIndexedMesh
/// </summary>
public class TriangleIndexVertexArray : XnaDevRu.BulletX.StridingMeshInterface
{
List<IndexedMesh> _indexedMeshes = new List<IndexedMesh>();
public TriangleIndexVertexArray() { }
public TriangleIndexVertexArray(int numTriangleIndices, int[] triangleIndexBase, int triangleIndexStride, int numVertices, Vector3[] vertexBase, int vertexStride)
{
IndexedMesh mesh = new IndexedMesh();
mesh.TriangleCount = numTriangleIndices;
mesh.TriangleIndexBase = triangleIndexBase;
mesh.TriangleIndexStride = triangleIndexStride;
mesh.VertexBase = vertexBase;
mesh.VertexCount = numVertices;
mesh.VertexStride = vertexStride;
AddIndexedMesh(mesh);
}
public TriangleIndexVertexArray(int[] triangleIndexBase, Vector3[] vertexBase)
: this(triangleIndexBase.Length, triangleIndexBase, 32, vertexBase.Length, vertexBase, 24) { }
public void AddIndexedMesh(IndexedMesh indexedMesh)
{
_indexedMeshes.Add(indexedMesh);
}
public override void GetLockedVertexIndexBase(out List<Vector3> verts, out List<int> indicies, out int numfaces, int subpart)
{
throw new Exception("The method or operation is not implemented.");
}
public override void GetLockedReadOnlyVertexIndexBase(out List<Vector3> verts, out List<int> indicies, out int numfaces, int subpart)
{
IndexedMesh m = _indexedMeshes[0];
Vector3[] vertexBase = m.VertexBase;
verts = new List<Vector3>();
foreach (Vector3 v in vertexBase)
{
verts.Add(v);
}
int[] indexBase = m.TriangleIndexBase;
indicies = new List<int>();
foreach (int i in indexBase)
{
indicies.Add(i);
}
numfaces = vertexBase.GetLength(0);
}
public override void UnLockVertexBase(int subpart)
{
throw new Exception("The method or operation is not implemented.");
}
public override void UnLockReadOnlyVertexBase(int subpart)
{
}
public override int SubPartsCount()
{
return _indexedMeshes.Count;
}
public override void PreallocateVertices(int numverts)
{
throw new Exception("The method or operation is not implemented.");
}
public override void PreallocateIndices(int numindices)
{
throw new Exception("The method or operation is not implemented.");
}
}
}