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https://github.com/opensim/opensim.git
synced 2026-08-11 11:57:03 +08:00
BulletSim: add asset fetching so BulletSim works with new physics asset handling.
Refactor some names to make them available for the asset tracking and fetching.
This commit is contained in:
Robert Adams
@@ -117,7 +117,7 @@ public class BSShapeCollection : IDisposable
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// Track another user of a body
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// We presume the caller has allocated the body.
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// Bodies only have one user so the reference count is either 1 or 0.
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// Bodies only have one user so the body is just put into the world if not already there.
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public void ReferenceBody(BulletBody body, bool inTaintTime)
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{
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lock (m_collectionActivityLock)
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@@ -241,26 +241,32 @@ public class BSShapeCollection : IDisposable
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BSScene.TaintCallback dereferenceOperation = delegate()
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{
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switch (shape.type)
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if (shape.ptr != IntPtr.Zero)
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{
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case ShapeData.PhysicsShapeType.SHAPE_HULL:
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DereferenceHull(shape, shapeCallback);
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break;
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case ShapeData.PhysicsShapeType.SHAPE_MESH:
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DereferenceMesh(shape, shapeCallback);
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break;
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case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
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break;
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default:
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if (shape.isNativeShape)
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{
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// Native shapes are not tracked and are released immediately
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if (shape.ptr != IntPtr.Zero & shape.isNativeShape)
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DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
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BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
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if (shapeCallback != null) shapeCallback(shape);
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BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
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}
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else
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{
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switch (shape.type)
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{
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DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
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BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
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if (shapeCallback != null) shapeCallback(shape);
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BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
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case ShapeData.PhysicsShapeType.SHAPE_HULL:
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DereferenceHull(shape, shapeCallback);
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break;
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case ShapeData.PhysicsShapeType.SHAPE_MESH:
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DereferenceMesh(shape, shapeCallback);
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break;
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case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
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break;
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default:
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break;
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}
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break;
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}
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}
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};
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if (inTaintTime)
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@@ -405,7 +411,6 @@ public class BSShapeCollection : IDisposable
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ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
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ShapeDestructionCallback shapeCallback)
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{
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BulletShape newShape;
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shapeData.Type = shapeType;
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// Bullet native objects are scaled by the Bullet engine so pass the size in
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@@ -415,20 +420,7 @@ public class BSShapeCollection : IDisposable
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// release any previous shape
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DereferenceShape(prim.BSShape, true, shapeCallback);
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if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
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{
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newShape = new BulletShape(
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BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale),
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shapeType);
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newShape.shapeKey = (System.UInt64)shapeKey;
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newShape.isNativeShape = true;
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}
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else
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{
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newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
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newShape.shapeKey = (System.UInt64)shapeKey;
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newShape.isNativeShape = true;
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}
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BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey);
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// Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
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DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
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@@ -438,6 +430,27 @@ public class BSShapeCollection : IDisposable
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return true;
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}
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private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType,
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ShapeData shapeData, ShapeData.FixedShapeKey shapeKey)
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{
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BulletShape newShape;
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if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
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{
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newShape = new BulletShape(
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BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale),
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shapeType);
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}
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else
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{
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newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
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}
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newShape.shapeKey = (System.UInt64)shapeKey;
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newShape.isNativeShape = true;
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return newShape;
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}
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// Builds a mesh shape in the physical world and updates prim.BSShape.
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// Dereferences previous shape in BSShape and adds a reference for this new shape.
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// Returns 'true' of a mesh was actually built. Otherwise .
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@@ -461,6 +474,8 @@ public class BSShapeCollection : IDisposable
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DereferenceShape(prim.BSShape, true, shapeCallback);
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newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
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// Take evasive action if the mesh was not constructed.
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newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
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ReferenceShape(newShape);
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@@ -474,7 +489,7 @@ public class BSShapeCollection : IDisposable
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private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
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{
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IMesh meshData = null;
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IntPtr meshPtr;
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IntPtr meshPtr = IntPtr.Zero;
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MeshDesc meshDesc;
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if (Meshes.TryGetValue(newMeshKey, out meshDesc))
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{
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@@ -486,23 +501,26 @@ public class BSShapeCollection : IDisposable
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// Pass false for physicalness as this creates some sort of bounding box which we don't need
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meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
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int[] indices = meshData.getIndexListAsInt();
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List<OMV.Vector3> vertices = meshData.getVertexList();
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float[] verticesAsFloats = new float[vertices.Count * 3];
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int vi = 0;
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foreach (OMV.Vector3 vv in vertices)
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if (meshData != null)
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{
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verticesAsFloats[vi++] = vv.X;
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verticesAsFloats[vi++] = vv.Y;
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verticesAsFloats[vi++] = vv.Z;
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int[] indices = meshData.getIndexListAsInt();
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List<OMV.Vector3> vertices = meshData.getVertexList();
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float[] verticesAsFloats = new float[vertices.Count * 3];
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int vi = 0;
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foreach (OMV.Vector3 vv in vertices)
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{
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verticesAsFloats[vi++] = vv.X;
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verticesAsFloats[vi++] = vv.Y;
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verticesAsFloats[vi++] = vv.Z;
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}
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// m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
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// LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
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meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
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indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
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}
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// m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
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// LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
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meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
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indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
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}
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BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH);
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newShape.shapeKey = newMeshKey;
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@@ -531,6 +549,7 @@ public class BSShapeCollection : IDisposable
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DereferenceShape(prim.BSShape, true, shapeCallback);
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newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
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newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
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ReferenceShape(newShape);
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@@ -544,7 +563,7 @@ public class BSShapeCollection : IDisposable
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private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
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{
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IntPtr hullPtr;
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IntPtr hullPtr = IntPtr.Zero;
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HullDesc hullDesc;
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if (Hulls.TryGetValue(newHullKey, out hullDesc))
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{
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@@ -556,86 +575,89 @@ public class BSShapeCollection : IDisposable
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// Build a new hull in the physical world
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// Pass false for physicalness as this creates some sort of bounding box which we don't need
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IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
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int[] indices = meshData.getIndexListAsInt();
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List<OMV.Vector3> vertices = meshData.getVertexList();
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//format conversion from IMesh format to DecompDesc format
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List<int> convIndices = new List<int>();
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List<float3> convVertices = new List<float3>();
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for (int ii = 0; ii < indices.GetLength(0); ii++)
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if (meshData != null)
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{
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convIndices.Add(indices[ii]);
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}
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foreach (OMV.Vector3 vv in vertices)
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{
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convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
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}
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// setup and do convex hull conversion
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m_hulls = new List<ConvexResult>();
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DecompDesc dcomp = new DecompDesc();
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dcomp.mIndices = convIndices;
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dcomp.mVertices = convVertices;
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ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
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// create the hull into the _hulls variable
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convexBuilder.process(dcomp);
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int[] indices = meshData.getIndexListAsInt();
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List<OMV.Vector3> vertices = meshData.getVertexList();
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// Convert the vertices and indices for passing to unmanaged.
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// The hull information is passed as a large floating point array.
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// The format is:
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// convHulls[0] = number of hulls
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// convHulls[1] = number of vertices in first hull
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// convHulls[2] = hull centroid X coordinate
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// convHulls[3] = hull centroid Y coordinate
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// convHulls[4] = hull centroid Z coordinate
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// convHulls[5] = first hull vertex X
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// convHulls[6] = first hull vertex Y
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// convHulls[7] = first hull vertex Z
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// convHulls[8] = second hull vertex X
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// ...
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// convHulls[n] = number of vertices in second hull
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// convHulls[n+1] = second hull centroid X coordinate
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// ...
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//
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// TODO: is is very inefficient. Someday change the convex hull generator to return
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// data structures that do not need to be converted in order to pass to Bullet.
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// And maybe put the values directly into pinned memory rather than marshaling.
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int hullCount = m_hulls.Count;
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int totalVertices = 1; // include one for the count of the hulls
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foreach (ConvexResult cr in m_hulls)
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{
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totalVertices += 4; // add four for the vertex count and centroid
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totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
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}
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float[] convHulls = new float[totalVertices];
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convHulls[0] = (float)hullCount;
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int jj = 1;
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foreach (ConvexResult cr in m_hulls)
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{
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// copy vertices for index access
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float3[] verts = new float3[cr.HullVertices.Count];
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int kk = 0;
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foreach (float3 ff in cr.HullVertices)
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//format conversion from IMesh format to DecompDesc format
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List<int> convIndices = new List<int>();
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List<float3> convVertices = new List<float3>();
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for (int ii = 0; ii < indices.GetLength(0); ii++)
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{
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verts[kk++] = ff;
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convIndices.Add(indices[ii]);
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}
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foreach (OMV.Vector3 vv in vertices)
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{
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convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
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}
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// add to the array one hull's worth of data
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convHulls[jj++] = cr.HullIndices.Count;
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convHulls[jj++] = 0f; // centroid x,y,z
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convHulls[jj++] = 0f;
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convHulls[jj++] = 0f;
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foreach (int ind in cr.HullIndices)
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// setup and do convex hull conversion
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m_hulls = new List<ConvexResult>();
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DecompDesc dcomp = new DecompDesc();
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dcomp.mIndices = convIndices;
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dcomp.mVertices = convVertices;
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ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
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// create the hull into the _hulls variable
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convexBuilder.process(dcomp);
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// Convert the vertices and indices for passing to unmanaged.
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// The hull information is passed as a large floating point array.
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// The format is:
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// convHulls[0] = number of hulls
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// convHulls[1] = number of vertices in first hull
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// convHulls[2] = hull centroid X coordinate
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// convHulls[3] = hull centroid Y coordinate
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// convHulls[4] = hull centroid Z coordinate
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// convHulls[5] = first hull vertex X
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// convHulls[6] = first hull vertex Y
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// convHulls[7] = first hull vertex Z
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// convHulls[8] = second hull vertex X
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// ...
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// convHulls[n] = number of vertices in second hull
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// convHulls[n+1] = second hull centroid X coordinate
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// ...
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//
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// TODO: is is very inefficient. Someday change the convex hull generator to return
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// data structures that do not need to be converted in order to pass to Bullet.
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// And maybe put the values directly into pinned memory rather than marshaling.
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int hullCount = m_hulls.Count;
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int totalVertices = 1; // include one for the count of the hulls
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foreach (ConvexResult cr in m_hulls)
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{
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convHulls[jj++] = verts[ind].x;
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convHulls[jj++] = verts[ind].y;
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convHulls[jj++] = verts[ind].z;
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totalVertices += 4; // add four for the vertex count and centroid
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totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
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}
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float[] convHulls = new float[totalVertices];
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convHulls[0] = (float)hullCount;
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int jj = 1;
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foreach (ConvexResult cr in m_hulls)
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{
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// copy vertices for index access
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float3[] verts = new float3[cr.HullVertices.Count];
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int kk = 0;
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foreach (float3 ff in cr.HullVertices)
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{
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verts[kk++] = ff;
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}
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// add to the array one hull's worth of data
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convHulls[jj++] = cr.HullIndices.Count;
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convHulls[jj++] = 0f; // centroid x,y,z
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convHulls[jj++] = 0f;
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convHulls[jj++] = 0f;
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foreach (int ind in cr.HullIndices)
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{
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convHulls[jj++] = verts[ind].x;
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convHulls[jj++] = verts[ind].y;
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convHulls[jj++] = verts[ind].z;
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}
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}
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// create the hull data structure in Bullet
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hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
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}
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// create the hull data structure in Bullet
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hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
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}
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BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
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@@ -676,6 +698,50 @@ public class BSShapeCollection : IDisposable
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return ComputeShapeKey(shapeData, pbs, out lod);
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}
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private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs)
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{
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// If the shape was successfully created, nothing more to do
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if (newShape.ptr != IntPtr.Zero)
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return newShape;
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// The most common reason for failure is that an underlying asset is not available
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// If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
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if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero)
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{
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prim.LastAssetBuildFailed = true;
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BSPhysObject xprim = prim;
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Util.FireAndForget(delegate
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{
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RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
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if (assetProvider != null)
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{
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BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
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assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
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{
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if (!yprim.BaseShape.SculptEntry)
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return;
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if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
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return;
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yprim.BaseShape.SculptData = new byte[asset.Data.Length];
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asset.Data.CopyTo(yprim.BaseShape.SculptData, 0);
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// This will cause the prim to see that the filler shape is not the right
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// one and try again to build the object.
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yprim.ForceBodyShapeRebuild(false);
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});
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}
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});
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}
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// While we figure out the real problem, stick a simple native shape on the object.
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BulletShape fillinShape =
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BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_SPHERE, shapeData, ShapeData.FixedShapeKey.KEY_SPHERE);
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return fillinShape;
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}
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// Create a body object in Bullet.
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// Updates prim.BSBody with the information about the new body if one is created.
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// Returns 'true' if an object was actually created.
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