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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();