// Creates a native shape and assignes it to prim.BSShape
private bool GetReferenceToNativeShape(BSPrim prim, ShapeData shapeData,
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape;
shapeData.Type = shapeType;
// Bullet native objects are scaled by the Bullet engine so pass the size in
prim.Scale = shapeData.Size;
shapeData.Scale = shapeData.Size;
// release any previous shape
DereferenceShape(prim.BSShape, true, shapeCallback);
// Native shapes are always built independently.
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
newShape.shapeKey = (ulong)shapeKey;
newShape.isNativeShape = true;
// Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
// DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
prim.BSShape = newShape;
return(true);
}
// called when this character is being destroyed and the resources should be released
public void Destroy()
{
_scene.TaintedObject(delegate()
{
BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
});
}
/*
* // Remove linkage between myself and any possible children I might have.
* // Called at taint time!
* private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
* {
* DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
*
* PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
* }
*/
// Call each of the constraints that make up this linkset and recompute the
// various transforms and variables. Used when objects are added or removed
// from a linkset to make sure the constraints know about the new mass and
// geometry.
// Must only be called at taint time!!
private void RecomputeLinksetConstraintVariables()
{
float linksetMass = LinksetMass;
foreach (BSPhysObject child in m_taintChildren)
{
BSConstraint constrain;
if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
{
// DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
// LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
constrain.RecomputeConstraintVariables(linksetMass);
}
else
{
// Non-fatal error that happens when children are being added to the linkset but
// their constraints have not been created yet.
break;
}
}
// If the whole linkset is not here, doesn't make sense to recompute linkset wide values
if (m_children.Count == m_taintChildren.Count)
{
// If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
foreach (BSPhysObject child in m_taintChildren)
{
BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
}
}
return;
}
// Create the initial instance of terrain and the underlying ground plane.
// The objects are allocated in the unmanaged space and the pointers are tracked
// by the managed code.
// The terrains and the groundPlane are not added to the list of PhysObjects.
// This is called from the initialization routine so we presume it is
// safe to call Bullet in real time. We hope no one is moving prims around yet.
public void CreateInitialGroundPlaneAndTerrain()
{
// The ground plane is here to catch things that are trying to drop to negative infinity
BulletShape groundPlaneShape = new BulletShape(
BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN),
ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE);
m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
Vector3.Zero, Quaternion.Identity));
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
// Everything collides with the ground plane.
BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
(uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION);
int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
float[] initialMap = new float[totalHeights];
for (int ii = 0; ii < totalHeights; ii++)
{
initialMap[ii] = HEIGHT_INITIALIZATION;
}
UpdateOrCreateTerrain(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords, true);
}
// update all the localIDs specified
// If the local ID is APPLY_TO_NONE, just change the default value
// If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
// If the localID is a specific object, apply the parameter change to only that object
private void UpdateParameterSet(List <uint> lIDs, ref float defaultLoc, string parm, uint localID, float val)
{
switch (localID)
{
case PhysParameterEntry.APPLY_TO_NONE:
defaultLoc = val; // setting only the default value
break;
case PhysParameterEntry.APPLY_TO_ALL:
defaultLoc = val; // setting ALL also sets the default value
List <uint> objectIDs = lIDs;
string xparm = parm.ToLower();
float xval = val;
TaintedObject(delegate() {
foreach (uint lID in objectIDs)
{
BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval);
}
});
break;
default:
// setting only one localID
TaintedUpdateParameter(parm, localID, val);
break;
}
}
// called when this character is being destroyed and the resources should be released
public override void Destroy()
{
DetailLog("{0},BSCharacter.Destroy", LocalID);
PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
{
BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
});
}
public override void SetTerrain(float[] heightMap)
{
m_heightMap = heightMap;
this.TaintedObject(delegate()
{
BulletSimAPI.SetHeightmap(m_worldID, m_heightMap);
});
}
public override void UnSubscribeEvents()
{
// DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
SubscribedEventsMs = 0;
PhysicsScene.TaintedObject(TypeName + ".UnSubscribeEvents", delegate()
{
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
});
}
public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
{
bool ret = false;
if (m_enabled)
{
ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
}
return(ret);
}
public virtual void Dispose()
{
if (m_enabled)
{
m_enabled = false;
bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
m_constraint.ptr = System.IntPtr.Zero;
}
}
// schedule the actual updating of the paramter to when the phys engine is not busy
private void TaintedUpdateParameter(string parm, uint localID, float val)
{
uint xlocalID = localID;
string xparm = parm.ToLower();
float xval = val;
TaintedObject(delegate() {
BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval);
});
}
public bool SetBreakingImpulseThreshold(float threshold)
{
bool ret = false;
if (m_enabled)
{
ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
}
return(ret);
}
// Release the usage of a body.
// Called when releasing use of a BSBody. BSShape is handled separately.
public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback)
{
if (body.ptr == IntPtr.Zero)
{
return;
}
lock (m_collectionActivityLock)
{
BodyDesc bodyDesc;
if (Bodies.TryGetValue(body.ID, out bodyDesc))
{
bodyDesc.referenceCount--;
bodyDesc.lastReferenced = System.DateTime.Now;
Bodies[body.ID] = bodyDesc;
DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount);
// If body is no longer being used, free it -- bodies are never shared.
if (bodyDesc.referenceCount == 0)
{
Bodies.Remove(body.ID);
BSScene.TaintCallback removeOperation = delegate()
{
DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}",
body.ID, body.ptr.ToString("X"));
// If the caller needs to know, pass the event up.
if (bodyCallback != null)
{
bodyCallback(body);
}
// Zero any reference to the shape so it is not freed when the body is deleted.
BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
// It may have already been removed from the world in which case the next is a NOOP.
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
};
// If already in taint-time, do the operations now. Otherwise queue for later.
if (inTaintTime)
{
removeOperation();
}
else
{
PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
}
}
}
else
{
DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount);
}
}
}
public virtual bool SetSolverIterations(float cnt)
{
bool ret = false;
if (m_enabled)
{
BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
ret = true;
}
return(ret);
}
public void Destroy()
{
#if (!ISWIN)
_scene.TaintedObject(delegate()
{
BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
});
#else
_scene.TaintedObject(() => BulletSimAPI.DestroyObject(_scene.WorldID, _localID));
#endif
}
public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
{
bool ret = false;
float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
if (m_enabled)
{
ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
}
return(ret);
}
public bool UseFrameOffset(bool useOffset)
{
bool ret = false;
float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
if (m_enabled)
{
ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
}
return(ret);
}
public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
{
bool ret = false;
if (m_enabled)
{
BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
ret = true;
}
return(ret);
}
// Release all the terrain we have allocated
public void ReleaseTerrain()
{
foreach (KeyValuePair <Vector2, BulletHeightMapInfo> kvp in m_heightMaps)
{
if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr))
{
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr);
BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr);
}
}
m_heightMaps.Clear();
}
public virtual bool CalculateTransforms()
{
bool ret = false;
if (m_enabled)
{
// Recompute the internal transforms
BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
ret = true;
}
return(ret);
}
// Set motion values to zero.
// Do it to the properties so the values get set in the physics engine.
// Push the setting of the values to the viewer.
// Called at taint time!
public override void ZeroMotion()
{
_velocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties directly into the physics engine
BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
BulletSimAPI.ClearForces2(BSBody.ptr);
}
public bool SetCFMAndERP(float cfm, float erp)
{
bool ret = false;
if (m_enabled)
{
BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
ret = true;
}
return(ret);
}
// Release all the terrain structures we might have allocated
public void ReleaseGroundPlaneAndTerrain()
{
if (m_groundPlane.ptr != IntPtr.Zero)
{
if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
{
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
}
m_groundPlane.ptr = IntPtr.Zero;
}
ReleaseTerrain();
}
public override void SetTerrain(ITerrainChannel channel, short[] heightMap)
{
m_heightMap = channel;
this.TaintedObject(delegate
{
float[] t = new float[heightMap.Length];
for (int i = 0; i < heightMap.Length; i++)
{
t[i] = (heightMap[i]) / Constants.TerrainCompression;
}
BulletSimAPI.SetHeightmap(m_worldID, t);
});
}
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
{
base.BaseInitialize(parent_scene, localID, avName, "BSCharacter");
_physicsActorType = (int)ActorTypes.Agent;
_position = pos;
_size = size;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
// The dimensions of the avatar capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
ComputeAvatarScale(_size);
_avatarDensity = PhysicsScene.Params.avatarDensity;
// set _avatarVolume and _mass based on capsule size, _density and _scale
ComputeAvatarVolumeAndMass();
ShapeData shapeData = new ShapeData();
shapeData.ID = LocalID;
shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
shapeData.Position = _position;
shapeData.Rotation = _orientation;
shapeData.Velocity = _velocity;
shapeData.Scale = _scale;
shapeData.Mass = _mass;
shapeData.Buoyancy = _buoyancy;
shapeData.Static = ShapeData.numericFalse;
shapeData.Friction = PhysicsScene.Params.avatarFriction;
shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
// do actual create at taint time
PhysicsScene.TaintedObject("BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
// Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
// If not set at creation, the avatar will stop flying when created after crossing a region boundry.
BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
// This works here because CreateObject has already put the character into the physical world.
BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
(uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask);
});
return;
}
// Create a body object in Bullet.
// 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, BodyDestructionCallback bodyCallback)
{
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 || forceRebuild)
{
DereferenceBody(prim.BSBody, true, bodyCallback);
BulletBody aBody;
IntPtr bodyPtr = IntPtr.Zero;
if (prim.IsSolid)
{
bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
shapeData.ID, shapeData.Position, shapeData.Rotation);
// DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
}
else
{
bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
shapeData.ID, shapeData.Position, shapeData.Rotation);
// DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
}
aBody = new BulletBody(shapeData.ID, bodyPtr);
ReferenceBody(aBody, true);
prim.BSBody = aBody;
ret = true;
}
return(ret);
}
// Remove linkage between myself and a particular child
// The root and child bodies are passed in because we need to remove the constraint between
// the bodies that were at unlink time.
// Called at taint time!
private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody,
BSPhysObject childPrim, BulletBody childBody)
{
DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
rootPrim.LocalID,
rootPrim.LocalID, rootBody.ptr.ToString("X"),
childPrim.LocalID, childBody.ptr.ToString("X"));
// Find the constraint for this link and get rid of it from the overall collection and from my list
PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody);
// Make the child refresh its location
BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
}
}//end SetDefaultsForType
// Some of the properties of this prim may have changed.
// Do any updating needed for a vehicle
public void Refresh()
{
if (Type == Vehicle.TYPE_NONE)
{
return;
}
// Set the prim's inertia to zero. The vehicle code handles that and this
// removes the torque action introduced by Bullet.
Vector3 inertia = Vector3.Zero;
BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia);
BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
}
// Release the usage of a shape.
// The collisionObject is released since it is a copy of the real collision shape.
public void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback)
{
if (shape.ptr == IntPtr.Zero)
{
return;
}
BSScene.TaintCallback dereferenceOperation = delegate()
{
switch (shape.type)
{
case ShapeData.PhysicsShapeType.SHAPE_HULL:
DereferenceHull(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_MESH:
DereferenceMesh(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
break;
default:
// Native shapes are not tracked and are released immediately
if (shape.ptr != IntPtr.Zero & shape.isNativeShape)
{
DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime);
if (shapeCallback != null)
{
shapeCallback(shape);
}
BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
}
break;
}
};
if (atTaintTime)
{
lock (m_collectionActivityLock)
{
dereferenceOperation();
}
}
else
{
PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation);
}
}
public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 pivotInA, Vector3 pivotInB,
Vector3 axisInA, Vector3 axisInB,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
m_constraint = new BulletConstraint(
BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
pivotInA, pivotInB,
axisInA, axisInB,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
m_enabled = true;
}
