mirror of
https://github.com/opensim/opensim.git
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d016051fa0
so the members case is consistant. Caused modifications everywhere.
New logic in BSShapeCollection to track use and sharing of shapes.
I just reslized, though, that shapes cannot be shared because the
shape's UserPointer is the localID of the prim and is required
for tracking collisions. More changes coming.
Added DuplicateCollisionShape2() to API and changed BuildNativeShape2
to take a ShapeData structure so don't have to pass so many parameters.
This matches the latest version of BulletSim.dll.
Additions and removal of DetailLog() statements for debugging.
702 lines
29 KiB
C#
Executable File
702 lines
29 KiB
C#
Executable File
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OMV = OpenMetaverse;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using OpenSim.Region.Physics.ConvexDecompositionDotNet;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public class BSShapeCollection : IDisposable
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{
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protected BSScene PhysicsScene { get; set; }
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private Object m_collectionActivityLock = new Object();
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// Description of a Mesh
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private struct MeshDesc
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{
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public IntPtr Ptr;
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public int referenceCount;
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public DateTime lastReferenced;
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public IMesh meshData;
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}
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// Description of a hull.
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// Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects
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private struct HullDesc
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{
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public IntPtr Ptr;
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public int referenceCount;
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public DateTime lastReferenced;
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}
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private struct BodyDesc
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{
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public IntPtr Ptr;
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// Bodies are only used once so reference count is always either one or zero
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public int referenceCount;
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public DateTime lastReferenced;
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}
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private Dictionary<ulong, MeshDesc> Meshes = new Dictionary<ulong, MeshDesc>();
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private Dictionary<ulong, HullDesc> Hulls = new Dictionary<ulong, HullDesc>();
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private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>();
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public BSShapeCollection(BSScene physScene)
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{
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PhysicsScene = physScene;
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}
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public void Dispose()
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{
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// TODO!!!!!!!!!
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}
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// Called to update/change the body and shape for an object.
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// First checks the shape and updates that if necessary then makes
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// sure the body is of the right type.
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// Return 'true' if either the body or the shape changed.
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// Called at taint-time!!
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public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs)
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{
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bool ret = false;
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// This lock could probably be pushed down lower but building shouldn't take long
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lock (m_collectionActivityLock)
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{
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// Do we have the correct geometry for this type of object?
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bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs);
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// If we had to select a new shape geometry for the object,
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// rebuild the body around it.
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bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData);
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ret = newGeom || newBody;
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}
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DetailLog("{0},BSShapeCollection.GetBodyAndShape,force-{1},ret={2},body={3},shape={4}",
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prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape);
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return ret;
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}
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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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public void ReferenceBody(BulletBody shape, bool atTaintTime)
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{
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lock (m_collectionActivityLock)
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{
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BodyDesc bodyDesc;
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if (Bodies.TryGetValue(shape.ID, out bodyDesc))
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{
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bodyDesc.referenceCount++;
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DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,ref={1}", shape.ID, bodyDesc.referenceCount);
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}
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else
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{
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bodyDesc.Ptr = shape.ptr;
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bodyDesc.referenceCount = 1;
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DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", shape.ID, bodyDesc.referenceCount);
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}
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bodyDesc.lastReferenced = System.DateTime.Now;
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Bodies[shape.ID] = bodyDesc;
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}
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}
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// Release the usage of a body.
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// Not that this will also delete the body in BUllet if the body is now unused (reference count = 0).
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public void DereferenceBody(BulletBody shape, bool inTaintTime)
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{
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if (shape.ptr == IntPtr.Zero)
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return;
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lock (m_collectionActivityLock)
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{
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BodyDesc bodyDesc;
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if (Bodies.TryGetValue(shape.ID, out bodyDesc))
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{
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bodyDesc.referenceCount--;
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bodyDesc.lastReferenced = System.DateTime.Now;
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Bodies[shape.ID] = bodyDesc;
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DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", shape.ID, bodyDesc.referenceCount);
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if (bodyDesc.referenceCount == 0)
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{
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Bodies.Remove(shape.ID);
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BSScene.TaintCallback removeOperation = delegate()
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{
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DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. Ptr={1:X}", shape.ID, shape.ptr);
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// zero any reference to the shape so it is not freed when the body is deleted
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BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, shape.ptr, IntPtr.Zero);
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// It may have already been removed from the world in which case the next is a NOOP
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BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, shape.ptr);
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BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, shape.ptr);
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};
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// If already in taint-time, do the operations now. Otherwise queue for later.
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if (inTaintTime)
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removeOperation();
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else
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PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
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}
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}
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else
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{
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DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", shape.ID, bodyDesc.referenceCount);
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}
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}
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}
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// Track another user of the shape
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private bool ReferenceShape(BulletShape shape)
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{
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return ReferenceShape(shape, null);
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}
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// Track the datastructures and use count for a shape.
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// When creating a hull, this is called first to reference the mesh
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// and then again to reference the hull.
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// Meshes and hulls for the same shape have the same hash key.
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// NOTE that native shapes are not added to the mesh list or removed.
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// Returns 'true' if this is the initial reference to the shape. Otherwise reused.
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private bool ReferenceShape(BulletShape shape, IMesh meshData)
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{
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bool ret = false;
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switch (shape.type)
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{
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case ShapeData.PhysicsShapeType.SHAPE_MESH:
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MeshDesc meshDesc;
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if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
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{
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// There is an existing instance of this mesh.
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meshDesc.referenceCount++;
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DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}",
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BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount);
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}
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else
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{
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// This is a new reference to a mesh
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meshDesc.Ptr = shape.ptr;
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meshDesc.meshData = meshData;
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meshDesc.referenceCount = 1;
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DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}",
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BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount);
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ret = true;
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}
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meshDesc.lastReferenced = System.DateTime.Now;
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Meshes[shape.shapeKey] = meshDesc;
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break;
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case ShapeData.PhysicsShapeType.SHAPE_HULL:
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HullDesc hullDesc;
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if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
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{
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// There is an existing instance of this mesh.
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hullDesc.referenceCount++;
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DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}",
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BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount);
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}
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else
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{
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// This is a new reference to a hull
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hullDesc.Ptr = shape.ptr;
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hullDesc.referenceCount = 1;
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DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}",
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BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount);
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ret = true;
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}
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hullDesc.lastReferenced = System.DateTime.Now;
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Hulls[shape.shapeKey] = hullDesc;
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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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// Native shapes are not tracked and they don't go into any list
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break;
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}
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return ret;
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}
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// Release the usage of a shape
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private void DereferenceShape(BulletShape shape, bool atTaintTime)
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{
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if (shape.ptr == IntPtr.Zero)
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return;
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BSScene.TaintCallback dereferenceOperation = delegate()
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{
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switch (shape.type)
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{
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case ShapeData.PhysicsShapeType.SHAPE_HULL:
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DereferenceHull(shape);
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// Hulls also include a mesh
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DereferenceMesh(shape);
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break;
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case ShapeData.PhysicsShapeType.SHAPE_MESH:
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DereferenceMesh(shape);
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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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// Native shapes are not tracked and are released immediately
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if (shape.ptr != IntPtr.Zero & shape.isNativeShape)
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{
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BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
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}
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break;
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}
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};
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if (atTaintTime)
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dereferenceOperation();
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else
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PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation);
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}
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// Count down the reference count for a mesh shape
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// Called at taint-time.
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private void DereferenceMesh(BulletShape shape)
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{
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MeshDesc meshDesc;
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if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
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{
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meshDesc.referenceCount--;
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// TODO: release the Bullet storage
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meshDesc.lastReferenced = System.DateTime.Now;
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Meshes[shape.shapeKey] = meshDesc;
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DetailLog("{0},BSShapeColliction.DereferenceMesh,key={1},cnt={2}",
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BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount);
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}
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}
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// Count down the reference count for a hull shape
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// Called at taint-time.
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private void DereferenceHull(BulletShape shape)
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{
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HullDesc hullDesc;
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if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
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{
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hullDesc.referenceCount--;
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// TODO: release the Bullet storage (aging old entries?)
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hullDesc.lastReferenced = System.DateTime.Now;
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Hulls[shape.shapeKey] = hullDesc;
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DetailLog("{0},BSShapeColliction.DereferenceHull,key={1},cnt={2}",
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BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount);
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}
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}
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// Create the geometry information in Bullet for later use.
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// The objects needs a hull if it's physical otherwise a mesh is enough.
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// No locking here because this is done when we know physics is not simulating.
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// if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
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// Returns 'true' if the geometry was rebuilt.
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// Called at taint-time!
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private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs)
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{
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bool ret = false;
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bool haveShape = false;
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bool nativeShapePossible = true;
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BulletShape newShape = new BulletShape(IntPtr.Zero);
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// If the prim attributes are simple, this could be a simple Bullet native shape
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if (nativeShapePossible
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&& ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
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|| (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
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&& pbs.ProfileHollow == 0
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&& pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
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&& pbs.PathBegin == 0 && pbs.PathEnd == 0
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&& pbs.PathTaperX == 0 && pbs.PathTaperY == 0
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&& pbs.PathScaleX == 100 && pbs.PathScaleY == 100
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&& pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
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{
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if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
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{
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haveShape = true;
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if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
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{
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newShape = AddNativeShapeToPrim(
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prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE);
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DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
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prim.LocalID, forceRebuild,prim.BSShape);
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ret = true;
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}
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}
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else
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{
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// m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
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haveShape = true;
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if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX))
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{
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newShape = AddNativeShapeToPrim(
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prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX);
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DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
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prim.LocalID, forceRebuild,prim.BSShape);
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ret = true;
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}
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}
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}
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// If a simple shape is not happening, create a mesh and possibly a hull
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// Note that if it's a native shape, the check for physical/non-physical is not
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// made. Native shapes are best used in either case.
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if (!haveShape)
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{
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if (prim.IsPhysical)
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{
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if (forceRebuild || !Hulls.ContainsKey(shapeData.HullKey))
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{
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// physical objects require a hull for interaction.
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// This also creates the mesh if it doesn't already exist.
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ret = CreateGeomHull(prim, shapeData, pbs);
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}
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else
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{
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prim.BSShape = new BulletShape(Hulls[shapeData.HullKey].Ptr,
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ShapeData.PhysicsShapeType.SHAPE_HULL);
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prim.BSShape.shapeKey = shapeData.HullKey;
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// Another user of this shape.
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ReferenceShape(prim.BSShape);
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ret = true;
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}
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}
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else
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{
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if (forceRebuild || !Meshes.ContainsKey(prim.BSShape.shapeKey))
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{
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// Static (non-physical) objects only need a mesh for bumping into
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// Returning 'true' means prim.BShape was changed.
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ret = CreateGeomMesh(prim, shapeData, pbs);
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}
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else
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{
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prim.BSShape = new BulletShape(Hulls[shapeData.MeshKey].Ptr,
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ShapeData.PhysicsShapeType.SHAPE_MESH);
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prim.BSShape.shapeKey = shapeData.MeshKey;
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ReferenceShape(prim.BSShape);
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ret = true;
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}
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}
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}
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return ret;
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}
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// Creates a native shape and assignes it to prim.BSShape
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private BulletShape AddNativeShapeToPrim(
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BSPrim prim, ShapeData shapeData, ShapeData.PhysicsShapeType shapeType,
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ShapeData.FixedShapeKey shapeKey)
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{
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BulletShape newShape;
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// Bullet native objects are scaled by the Bullet engine so pass the size in
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prim.Scale = shapeData.Size;
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shapeData.Type = shapeType;
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shapeData.Scale = prim.Scale;
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// release any previous shape
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DereferenceShape(prim.BSShape, true);
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// Shape of this discriptioin is not allocated. Create new.
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newShape = new BulletShape(
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BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
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newShape.shapeKey = (ulong)shapeKey;
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newShape.isNativeShape = true;
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// Don't to a 'ReferenceShape()' here because native shapes are not tracked.
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prim.BSShape = newShape;
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return newShape;
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}
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// Returns 'true' of a mesh was actually rebuild.
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// Called at taint-time!
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private bool CreateGeomMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs)
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{
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BulletShape newShape = new BulletShape(IntPtr.Zero);
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// level of detail based on size and type of the object
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float lod = PhysicsScene.MeshLOD;
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if (pbs.SculptEntry)
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lod = PhysicsScene.SculptLOD;
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float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z));
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if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
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lod = PhysicsScene.MeshMegaPrimLOD;
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ulong newMeshKey = (ulong)pbs.GetMeshKey(shapeData.Size, lod);
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// if this new shape is the same as last time, don't recreate the mesh
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if (prim.BSShape.shapeKey == newMeshKey) return false;
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DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,key={1}", prim.LocalID, newMeshKey);
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// Since we're recreating new, get rid of the reference to the previous shape
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DereferenceShape(prim.BSShape, true);
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IMesh meshData = null;
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IntPtr meshPtr;
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MeshDesc meshDesc;
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if (Meshes.TryGetValue(newMeshKey, out meshDesc))
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{
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// If the mesh has already been built just use it.
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meshPtr = meshDesc.Ptr;
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}
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else
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{
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// always 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(prim.PhysObjectName, pbs, shapeData.Size, lod, false);
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int[] indices = meshData.getIndexListAsInt();
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List<OMV.Vector3> vertices = meshData.getVertexList();
|
|
|
|
float[] verticesAsFloats = new float[vertices.Count * 3];
|
|
int vi = 0;
|
|
foreach (OMV.Vector3 vv in vertices)
|
|
{
|
|
verticesAsFloats[vi++] = vv.X;
|
|
verticesAsFloats[vi++] = vv.Y;
|
|
verticesAsFloats[vi++] = vv.Z;
|
|
}
|
|
|
|
// m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
|
|
// LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
|
|
|
|
meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
|
|
indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
|
|
}
|
|
newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH);
|
|
newShape.shapeKey = newMeshKey;
|
|
|
|
ReferenceShape(newShape, meshData);
|
|
|
|
// meshes are already scaled by the meshmerizer
|
|
prim.Scale = new OMV.Vector3(1f, 1f, 1f);
|
|
prim.BSShape = newShape;
|
|
return true; // 'true' means a new shape has been added to this prim
|
|
}
|
|
|
|
// Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
|
|
List<ConvexResult> m_hulls;
|
|
private bool CreateGeomHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs)
|
|
{
|
|
BulletShape newShape;
|
|
|
|
// Level of detail for the mesh can be different for sculpties and regular meshes.
|
|
float lod = pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD;
|
|
|
|
ulong newHullKey = (ulong)pbs.GetMeshKey(shapeData.Size, lod);
|
|
|
|
// if the hull hasn't changed, don't rebuild it
|
|
if (newHullKey == prim.BSShape.shapeKey) return false;
|
|
|
|
DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", prim.LocalID, newHullKey, newHullKey);
|
|
|
|
// Remove references to the previous shape. Also removes reference to underlying mesh.
|
|
DereferenceShape(prim.BSShape, true);
|
|
|
|
// Do not let the mesh dereference itself again. Was done in the above DerefereceShape().
|
|
prim.BSShape.type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
|
|
|
|
// Make sure the underlying mesh exists and is correct.
|
|
// Since we're in the hull code, we know CreateGeomMesh() will not create a native shape.
|
|
CreateGeomMesh(prim, shapeData, pbs);
|
|
MeshDesc meshDesc = Meshes[newHullKey];
|
|
|
|
IntPtr hullPtr;
|
|
HullDesc hullDesc;
|
|
if (Hulls.TryGetValue(newHullKey, out hullDesc))
|
|
{
|
|
// If the hull shape already is created, just use it.
|
|
hullPtr = hullDesc.Ptr;
|
|
}
|
|
else
|
|
{
|
|
// Build a new hull in the physical world
|
|
int[] indices = meshDesc.meshData.getIndexListAsInt();
|
|
List<OMV.Vector3> vertices = meshDesc.meshData.getVertexList();
|
|
|
|
//format conversion from IMesh format to DecompDesc format
|
|
List<int> convIndices = new List<int>();
|
|
List<float3> convVertices = new List<float3>();
|
|
for (int ii = 0; ii < indices.GetLength(0); ii++)
|
|
{
|
|
convIndices.Add(indices[ii]);
|
|
}
|
|
foreach (OMV.Vector3 vv in vertices)
|
|
{
|
|
convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
|
|
}
|
|
|
|
// setup and do convex hull conversion
|
|
m_hulls = new List<ConvexResult>();
|
|
DecompDesc dcomp = new DecompDesc();
|
|
dcomp.mIndices = convIndices;
|
|
dcomp.mVertices = convVertices;
|
|
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
|
|
// create the hull into the _hulls variable
|
|
convexBuilder.process(dcomp);
|
|
|
|
// Convert the vertices and indices for passing to unmanaged.
|
|
// The hull information is passed as a large floating point array.
|
|
// The format is:
|
|
// convHulls[0] = number of hulls
|
|
// convHulls[1] = number of vertices in first hull
|
|
// convHulls[2] = hull centroid X coordinate
|
|
// convHulls[3] = hull centroid Y coordinate
|
|
// convHulls[4] = hull centroid Z coordinate
|
|
// convHulls[5] = first hull vertex X
|
|
// convHulls[6] = first hull vertex Y
|
|
// convHulls[7] = first hull vertex Z
|
|
// convHulls[8] = second hull vertex X
|
|
// ...
|
|
// convHulls[n] = number of vertices in second hull
|
|
// convHulls[n+1] = second hull centroid X coordinate
|
|
// ...
|
|
//
|
|
// TODO: is is very inefficient. Someday change the convex hull generator to return
|
|
// data structures that do not need to be converted in order to pass to Bullet.
|
|
// And maybe put the values directly into pinned memory rather than marshaling.
|
|
int hullCount = m_hulls.Count;
|
|
int totalVertices = 1; // include one for the count of the hulls
|
|
foreach (ConvexResult cr in m_hulls)
|
|
{
|
|
totalVertices += 4; // add four for the vertex count and centroid
|
|
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
|
|
}
|
|
float[] convHulls = new float[totalVertices];
|
|
|
|
convHulls[0] = (float)hullCount;
|
|
int jj = 1;
|
|
foreach (ConvexResult cr in m_hulls)
|
|
{
|
|
// copy vertices for index access
|
|
float3[] verts = new float3[cr.HullVertices.Count];
|
|
int kk = 0;
|
|
foreach (float3 ff in cr.HullVertices)
|
|
{
|
|
verts[kk++] = ff;
|
|
}
|
|
|
|
// add to the array one hull's worth of data
|
|
convHulls[jj++] = cr.HullIndices.Count;
|
|
convHulls[jj++] = 0f; // centroid x,y,z
|
|
convHulls[jj++] = 0f;
|
|
convHulls[jj++] = 0f;
|
|
foreach (int ind in cr.HullIndices)
|
|
{
|
|
convHulls[jj++] = verts[ind].x;
|
|
convHulls[jj++] = verts[ind].y;
|
|
convHulls[jj++] = verts[ind].z;
|
|
}
|
|
}
|
|
// create the hull data structure in Bullet
|
|
// m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, LocalID, _hullKey, hullCount);
|
|
hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
|
|
}
|
|
|
|
newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
|
|
newShape.shapeKey = newHullKey;
|
|
newShape.meshPtr = meshDesc.Ptr;
|
|
|
|
ReferenceShape(newShape);
|
|
|
|
// meshes and hulls are already scaled by the meshmerizer
|
|
prim.Scale = new OMV.Vector3(1f, 1f, 1f);
|
|
prim.BSShape = newShape;
|
|
return true; // 'true' means a new shape has been added to this prim
|
|
}
|
|
|
|
// Callback from convex hull creater with a newly created hull.
|
|
// Just add it to our collection of hulls for this shape.
|
|
private void HullReturn(ConvexResult result)
|
|
{
|
|
m_hulls.Add(result);
|
|
return;
|
|
}
|
|
|
|
// Create an object in Bullet if it has not already been created.
|
|
// Updates prim.BSBody with the information about the new body if one is created.
|
|
// Returns 'true' if an object was actually created.
|
|
// Called at taint-time.
|
|
private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, ShapeData shapeData)
|
|
{
|
|
bool ret = false;
|
|
|
|
// the mesh, hull or native shape must have already been created in Bullet
|
|
bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero);
|
|
|
|
// If there is an existing body, verify it's of an acceptable type.
|
|
// If not a solid object, body is a GhostObject. Otherwise a RigidBody.
|
|
if (!mustRebuild)
|
|
{
|
|
CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.BSBody.ptr);
|
|
if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
|
|
|| !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
|
|
{
|
|
// If the collisionObject is not the correct type for solidness, rebuild what's there
|
|
mustRebuild = true;
|
|
}
|
|
|
|
}
|
|
|
|
if (mustRebuild)
|
|
{
|
|
DereferenceBody(prim.BSBody, true);
|
|
|
|
BulletBody aBody;
|
|
IntPtr bodyPtr = IntPtr.Zero;
|
|
if (prim.IsSolid)
|
|
{
|
|
bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, shapeData.Position, shapeData.Rotation);
|
|
DetailLog("{0},BSShapeCollection.CreateObject,mesh,ptr={1:X}", prim.LocalID, bodyPtr);
|
|
}
|
|
else
|
|
{
|
|
bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, shapeData.Position, shapeData.Rotation);
|
|
DetailLog("{0},BSShapeCollection.CreateObject,ghost,ptr={1:X}", prim.LocalID, bodyPtr);
|
|
}
|
|
aBody = new BulletBody(shapeData.ID, bodyPtr);
|
|
|
|
ReferenceBody(aBody, true);
|
|
|
|
prim.BSBody = aBody;
|
|
|
|
ret = true;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
private void DetailLog(string msg, params Object[] args)
|
|
{
|
|
PhysicsScene.PhysicsLogging.Write(msg, args);
|
|
}
|
|
}
|
|
}
|