public override void Initialise(IMesher meshmerizer, IScene scene)
{
Scene = scene;
mesher = meshmerizer;
_taintOperations = new List <TaintCallbackEntry>();
_postTaintOperations = new Dictionary <string, TaintCallbackEntry>();
_postStepOperations = new List <TaintCallbackEntry>();
PhysObjects = new Dictionary <uint, BSPhysObject>();
Shapes = new BSShapeCollection(this);
// Allocate pinned memory to pass parameters.
UnmanagedParams = new ConfigurationParameters[1];
// Set default values for physics parameters plus any overrides from the ini file
GetInitialParameterValues(scene.Config);
// Get the connection to the physics engine (could be native or one of many DLLs)
PE = SelectUnderlyingBulletEngine(BulletEngineName);
// Enable very detailed logging.
// By creating an empty logger when not logging, the log message invocation code
// can be left in and every call doesn't have to check for null.
/*if (m_physicsLoggingEnabled)
* {
* PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
* PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
* }
* else
* {
* PhysicsLogging = new Logging.LogWriter();
* }*/
// Allocate memory for returning of the updates and collisions from the physics engine
m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
// The bounding box for the simulated world. The origin is 0,0,0 unless we're
// a child in a mega-region.
// Bullet actually doesn't care about the extents of the simulated
// area. It tracks active objects no matter where they are.
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray,
m_maxUpdatesPerFrame, ref m_updateArray);
Constraints = new BSConstraintCollection(World);
TerrainManager = new BSTerrainManager(this);
TerrainManager.CreateInitialGroundPlaneAndTerrain();
MainConsole.Instance.WarnFormat("{0} Linksets implemented with {1}", LogHeader,
(BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
InTaintTime = false;
m_initialized = true;
}
public override void Dispose()
{
// MainConsole.Instance.DebugFormat("{0}: Dispose()", LogHeader);
// make sure no stepping happens while we're deleting stuff
m_initialized = false;
foreach (KeyValuePair <uint, BSPhysObject> kvp in PhysObjects)
{
kvp.Value.Destroy();
}
PhysObjects.Clear();
// Now that the prims are all cleaned up, there should be no constraints left
if (Constraints != null)
{
Constraints.Dispose();
Constraints = null;
}
if (Shapes != null)
{
Shapes.Dispose();
Shapes = null;
}
if (TerrainManager != null)
{
TerrainManager.ReleaseGroundPlaneAndTerrain();
TerrainManager.Dispose();
TerrainManager = null;
}
// Anything left in the unmanaged code should be cleaned out
PE.Shutdown(World);
}
public override void Dispose()
{
// MainConsole.Instance.DebugFormat("{0}: Dispose()", LogHeader);
// make sure no stepping happens while we're deleting stuff
m_initialized = false;
foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
{
kvp.Value.Destroy();
}
PhysObjects.Clear();
// Now that the prims are all cleaned up, there should be no constraints left
if (Constraints != null)
{
Constraints.Dispose();
Constraints = null;
}
if (Shapes != null)
{
Shapes.Dispose();
Shapes = null;
}
if (TerrainManager != null)
{
TerrainManager.ReleaseGroundPlaneAndTerrain();
TerrainManager.Dispose();
TerrainManager = null;
}
// Anything left in the unmanaged code should be cleaned out
PE.Shutdown(World);
}
public override void Initialise(IMesher meshmerizer, IScene scene)
{
Scene = scene;
mesher = meshmerizer;
_taintOperations = new List<TaintCallbackEntry>();
_postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
_postStepOperations = new List<TaintCallbackEntry>();
PhysObjects = new Dictionary<uint, BSPhysObject>();
Shapes = new BSShapeCollection(this);
// Allocate pinned memory to pass parameters.
UnmanagedParams = new ConfigurationParameters[1];
// Set default values for physics parameters plus any overrides from the ini file
GetInitialParameterValues(scene.Config);
// Get the connection to the physics engine (could be native or one of many DLLs)
PE = SelectUnderlyingBulletEngine(BulletEngineName);
// Enable very detailed logging.
// By creating an empty logger when not logging, the log message invocation code
// can be left in and every call doesn't have to check for null.
/*if (m_physicsLoggingEnabled)
{
PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
}
else
{
PhysicsLogging = new Logging.LogWriter();
}*/
// Allocate memory for returning of the updates and collisions from the physics engine
m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
// The bounding box for the simulated world. The origin is 0,0,0 unless we're
// a child in a mega-region.
// Bullet actually doesn't care about the extents of the simulated
// area. It tracks active objects no matter where they are.
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray,
m_maxUpdatesPerFrame, ref m_updateArray);
Constraints = new BSConstraintCollection(World);
TerrainManager = new BSTerrainManager(this);
TerrainManager.CreateInitialGroundPlaneAndTerrain();
MainConsole.Instance.WarnFormat("{0} Linksets implemented with {1}", LogHeader,
(BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
InTaintTime = false;
m_initialized = true;
}
private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
BulletShape newShape = new BulletShape();
IntPtr hullPtr = IntPtr.Zero;
if (BSParam.ShouldUseBulletHACD)
{
// Build the hull shape from an existing mesh shape.
// The mesh should have already been created in Bullet.
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID);
BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim);
if (meshShape.physShapeInfo.HasPhysicalShape)
{
HACDParams parms;
parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull;
parms.minClusters = BSParam.BHullMinClusters;
parms.compacityWeight = BSParam.BHullCompacityWeight;
parms.volumeWeight = BSParam.BHullVolumeWeight;
parms.concavity = BSParam.BHullConcavity;
parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints);
parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints);
parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints);
parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin);
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape);
newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms);
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
// Now done with the mesh shape.
meshShape.Dereference(physicsScene);
}
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
}
if (!newShape.HasPhysicalShape)
{
// Build a new hull in the physical world using the C# HACD algorigthm.
// Pass true for physicalness as this prevents the creation of bounding box which is not needed
IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
if (meshData != null)
{
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
{
// Release the fetched asset data once it has been used.
pbs.SculptData = new byte[0];
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown;
}
int[] indices = meshData.getIndexListAsInt();
List <OMV.Vector3> vertices = 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));
}
uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
{
// Simple primitive shapes we know are convex so they are better implemented with
// fewer hulls.
// Check for simple shape (prim without cuts) and reduce split parameter if so.
if (BSShapeCollection.PrimHasNoCuts(pbs))
{
maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
}
}
// setup and do convex hull conversion
m_hulls = new List <ConvexResult>();
DecompDesc dcomp = new DecompDesc();
dcomp.mIndices = convIndices;
dcomp.mVertices = convVertices;
dcomp.mDepth = maxDepthSplit;
dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count);
// 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
newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
}
newShape.shapeKey = newHullKey;
}
return(newShape);
}
