// 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);
}
// See that hull shape exists in the physical world and update prim.BSShape.
// We could be creating the hull because scale changed or whatever.
private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape;
float lod;
ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
// if the hull hasn't changed, don't rebuild it
if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
{
return(false);
}
DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}",
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
// Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull.
DereferenceShape(prim.BSShape, true, shapeCallback);
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
ReferenceShape(newShape);
// 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
}
// Builds a mesh shape in the physical world and updates prim.BSShape.
// Dereferences previous shape in BSShape and adds a reference for this new shape.
// Returns 'true' of a mesh was actually built. Otherwise .
// Called at taint-time!
private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape = new BulletShape(IntPtr.Zero);
float lod;
ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
// if this new shape is the same as last time, don't recreate the mesh
if (prim.BSShape.shapeKey == newMeshKey)
{
return(false);
}
DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}",
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
// Since we're recreating new, get rid of the reference to the previous shape
DereferenceShape(prim.BSShape, true, shapeCallback);
newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
ReferenceShape(newShape);
// 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
}
public override void RemovePrim(PhysicsActor prim)
{
if (!m_initialized)
{
return;
}
BSPrim bsprim = prim as BSPrim;
if (bsprim != null)
{
DetailLog("{0},RemovePrim,call", bsprim.LocalID);
// m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
try
{
lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
}
catch (Exception e)
{
m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
}
bsprim.Destroy();
// bsprim.dispose();
}
else
{
m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
}
}
// Routine used when rebuilding the body of the root of the linkset
// Destroy all the constraints have have been made to root.
// This is called when the root body is changing.
// Returns 'true' of something eas actually removed and would need restoring
// Called at taint-time!!
public bool RemoveBodyDependencies(BSPrim child)
{
bool ret = false;
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
// If the one with the dependency is root, must undo all children
DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}",
child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
foreach (BSPhysObject bpo in m_taintChildren)
{
PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
ret = true;
}
}
else
{
DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
child.LocalID,
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
// Remove the dependency on the body of this one
if (m_taintChildren.Contains(child))
{
PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
ret = true;
}
}
}
return(ret);
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
{
// m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
lock (m_prims) m_prims.Add(localID, prim);
return(prim);
}
// Remove a prim from our list of vehicles.
// Safe to call if the prim is not in the vehicle list.
public void RemoveVehiclePrim(BSPrim vehicle)
{
lock (m_vehicles)
{
if (m_vehicles.Contains(vehicle))
{
m_vehicles.Remove(vehicle);
}
}
}
// Make so the scene will call this prim for vehicle actions each tick.
// Safe to call if prim is already in the vehicle list.
public void AddVehiclePrim(BSPrim vehicle)
{
lock (m_vehicles)
{
if (!m_vehicles.Contains(vehicle))
{
m_vehicles.Add(vehicle);
}
}
}
// 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);
}
public override PhysicsObject AddPrimShape(ISceneChildEntity entity)
{
bool isPhysical = ((entity.ParentEntity.RootChild.Flags & PrimFlags.Physics) != 0);
bool isPhantom = ((entity.ParentEntity.RootChild.Flags & PrimFlags.Phantom) != 0);
bool physical = isPhysical & !isPhantom;
/*IOpenRegionSettingsModule WSModule = entity.ParentEntity.Scene.RequestModuleInterface<IOpenRegionSettingsModule> ();
* if (WSModule != null)
* if (!WSModule.AllowPhysicalPrims)
* physical = false;*/
BSPrim prim = new BSPrim(entity, isPhysical, this);
lock (m_prims) m_prims.Add(entity.LocalId, prim);
return(prim);
}
// Routine called when rebuilding the body of some member of the linkset.
// Destroy all the constraints have have been made to root and set
// up to rebuild the constraints before the next simulation step.
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public override bool RemoveBodyDependencies(BSPrim child)
{
bool ret = false;
DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString);
lock (m_linksetActivityLock)
{
// Just undo all the constraints for this linkset. Rebuild at the end of the step.
ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
// Cause the constraints, et al to be rebuilt before the next simulation step.
Refresh(LinksetRoot);
}
return(ret);
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
{
// m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
if (!m_initialized)
{
return(null);
}
DetailLog("{0},AddPrimShape,call", localID);
BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
lock (PhysObjects) PhysObjects.Add(localID, prim);
return(prim);
}
private void ReportShapeGeom(BSPrim prim)
{
if (prim != null)
{
if (prim.PhysShape.HasPhysicalShape)
{
BSShape physShape = prim.PhysShape;
string shapeType = physShape.GetType().ToString();
switch (shapeType)
{
case "OpenSim.Region.Physics.BulletSPlugin.BSShapeNative":
BSShapeNative nShape = physShape as BSShapeNative;
prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
break;
case "OpenSim.Region.Physics.BulletSPlugin.BSShapeMesh":
BSShapeMesh mShape = physShape as BSShapeMesh;
prim.PhysScene.DetailLog("{0}, mesh, shapeInfo={1}", prim.Name, mShape.shapeInfo);
break;
case "OpenSim.Region.Physics.BulletSPlugin.BSShapeHull":
// BSShapeHull hShape = physShape as BSShapeHull;
// prim.PhysScene.DetailLog("{0}, hull, shapeInfo={1}", prim.Name, hShape.shapeInfo);
break;
case "OpenSim.Region.Physics.BulletSPlugin.BSShapeConvexHull":
BSShapeConvexHull chShape = physShape as BSShapeConvexHull;
prim.PhysScene.DetailLog("{0}, convexHull, shapeInfo={1}", prim.Name, chShape.shapeInfo);
break;
case "OpenSim.Region.Physics.BulletSPlugin.BSShapeCompound":
BSShapeCompound cShape = physShape as BSShapeCompound;
prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
break;
default:
prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
break;
}
}
}
}
// Routine called when rebuilding the body of some member of the linkset.
// Since we don't keep in world relationships, do nothing unless it's a child changing.
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public override bool RemoveBodyDependencies(BSPrim child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, IsRoot(child));
if (!IsRoot(child))
{
// Because it is a convenient time, recompute child world position and rotation based on
// its position in the linkset.
RecomputeChildWorldPosition(child, true);
}
// Cannot schedule a refresh/rebuild here because this routine is called when
// the linkset is being rebuilt.
// InternalRefresh(LinksetRoot);
return(ret);
}
// Called to update/change the body and shape for an object.
// First checks the shape and updates that if necessary then makes
// sure the body is of the right type.
// Return 'true' if either the body or the shape changed.
// Called at taint-time!!
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim,
ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
{
bool ret = false;
// This lock could probably be pushed down lower but building shouldn't take long
lock (m_collectionActivityLock)
{
// Do we have the correct geometry for this type of object?
// Updates prim.BSShape with information/pointers to requested shape
bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
// If we had to select a new shape geometry for the object,
// rebuild the body around it.
// Updates prim.BSBody with information/pointers to requested body
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback);
ret = newGeom || newBody;
}
DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}",
prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape);
return(ret);
}
// Routine used when rebuilding the body of the root of the linkset
// This is called after RemoveAllLinksToRoot() to restore all the constraints.
// This is called when the root body has been changed.
// Called at taint-time!!
public void RestoreBodyDependencies(BSPrim child)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
foreach (BSPhysObject bpo in m_taintChildren)
{
PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
}
}
else
{
DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
LinksetRoot.LocalID,
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
}
}
}
private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
public BSDynamics(BSPrim myPrim)
{
m_prim = myPrim;
m_type = Vehicle.TYPE_NONE;
}
// Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', // this routine will restore the removed constraints. // Called at taint-time!! public abstract void RestoreBodyDependencies(BSPrim child);
// Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. // This is called when the root body is changing. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! public abstract bool RemoveBodyDependencies(BSPrim child);
// Create the geometry information in Bullet for later use.
// The objects needs a hull if it's physical otherwise a mesh is enough.
// No locking here because this is done when we know physics is not simulating.
// if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
// Returns 'true' if the geometry was rebuilt.
// Called at taint-time!
private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData,
PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
{
bool ret = false;
bool haveShape = false;
bool nativeShapePossible = true;
// If the prim attributes are simple, this could be a simple Bullet native shape
if (nativeShapePossible &&
((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) ||
(pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 &&
pbs.ProfileHollow == 0 &&
pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 &&
pbs.PathBegin == 0 && pbs.PathEnd == 0 &&
pbs.PathTaperX == 0 && pbs.PathTaperY == 0 &&
pbs.PathScaleX == 100 && pbs.PathScaleY == 100 &&
pbs.PathShearX == 0 && pbs.PathShearY == 0)))
{
if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
{
haveShape = true;
if (forceRebuild ||
prim.Scale != shapeData.Size ||
prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
)
{
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.BSShape);
}
}
else
{
haveShape = true;
if (forceRebuild ||
prim.Scale != shapeData.Size ||
prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
)
{
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.BSShape);
}
}
}
// If a simple shape is not happening, create a mesh and possibly a hull.
// Note that if it's a native shape, the check for physical/non-physical is not
// made. Native shapes are best used in either case.
if (!haveShape)
{
if (prim.IsPhysical)
{
// Update prim.BSShape to reference a hull of this shape.
ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
}
else
{
ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
}
}
return(ret);
}
private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
public BSDynamics(BSScene myScene, BSPrim myPrim)
{
PhysicsScene = myScene;
Prim = myPrim;
Type = Vehicle.TYPE_NONE;
}
[TestCase(7, 2, 5f, 5f, 32, 0f)] /* default hull parameters */
public void GeomHullConvexDecomp(int maxDepthSplit,
int maxDepthSplitForSimpleShapes,
float concavityThresholdPercent,
float volumeConservationThresholdPercent,
int maxVertices,
float maxSkinWidth)
{
// Setup the physics engine to use the C# version of convex decomp
Dictionary <string, string> engineParams = new Dictionary <string, string>();
engineParams.Add("MeshSculptedPrim", "true"); // ShouldMeshSculptedPrim
engineParams.Add("ForceSimplePrimMeshing", "false"); // ShouldForceSimplePrimMeshing
engineParams.Add("UseHullsForPhysicalObjects", "true"); // ShouldUseHullsForPhysicalObjects
engineParams.Add("ShouldRemoveZeroWidthTriangles", "true");
engineParams.Add("ShouldUseBulletHACD", "false");
engineParams.Add("ShouldUseSingleConvexHullForPrims", "true");
engineParams.Add("ShouldUseGImpactShapeForPrims", "false");
engineParams.Add("ShouldUseAssetHulls", "true");
engineParams.Add("CSHullMaxDepthSplit", maxDepthSplit.ToString());
engineParams.Add("CSHullMaxDepthSplitForSimpleShapes", maxDepthSplitForSimpleShapes.ToString());
engineParams.Add("CSHullConcavityThresholdPercent", concavityThresholdPercent.ToString());
engineParams.Add("CSHullVolumeConservationThresholdPercent", volumeConservationThresholdPercent.ToString());
engineParams.Add("CSHullMaxVertices", maxVertices.ToString());
engineParams.Add("CSHullMaxSkinWidth", maxSkinWidth.ToString());
PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
PrimitiveBaseShape pbs;
Vector3 pos;
Vector3 size;
Quaternion rot;
bool isPhys;
// Cylinder
pbs = PrimitiveBaseShape.CreateCylinder();
pos = new Vector3(100.0f, 100.0f, 0f);
pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
ObjectInitPosition = pos;
size = new Vector3(2f, 2f, 2f);
pbs.Scale = size;
rot = Quaternion.Identity;
isPhys = true;
uint cylinderLocalID = 123;
PhysicsScene.AddPrimShape("testCylinder", pbs, pos, size, rot, isPhys, cylinderLocalID);
BSPrim primTypeCylinder = (BSPrim)PhysicsScene.PhysObjects[cylinderLocalID];
// Hollow Cylinder
pbs = PrimitiveBaseShape.CreateCylinder();
pbs.ProfileHollow = (ushort)(0.70f * 50000);
pos = new Vector3(110.0f, 110.0f, 0f);
pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
ObjectInitPosition = pos;
size = new Vector3(2f, 2f, 2f);
pbs.Scale = size;
rot = Quaternion.Identity;
isPhys = true;
uint hollowCylinderLocalID = 124;
PhysicsScene.AddPrimShape("testHollowCylinder", pbs, pos, size, rot, isPhys, hollowCylinderLocalID);
BSPrim primTypeHollowCylinder = (BSPrim)PhysicsScene.PhysObjects[hollowCylinderLocalID];
// Torus
// ProfileCurve = Circle, PathCurve = Curve1
pbs = PrimitiveBaseShape.CreateSphere();
pbs.ProfileShape = (byte)ProfileShape.Circle;
pbs.PathCurve = (byte)Extrusion.Curve1;
pbs.PathScaleX = 100; // default hollow info as set in the viewer
pbs.PathScaleY = (int)(.25f / 0.01f) + 200;
pos = new Vector3(120.0f, 120.0f, 0f);
pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
ObjectInitPosition = pos;
size = new Vector3(2f, 4f, 4f);
pbs.Scale = size;
rot = Quaternion.Identity;
isPhys = true;
uint torusLocalID = 125;
PhysicsScene.AddPrimShape("testTorus", pbs, pos, size, rot, isPhys, torusLocalID);
BSPrim primTypeTorus = (BSPrim)PhysicsScene.PhysObjects[torusLocalID];
// The actual prim shape creation happens at taint time
PhysicsScene.ProcessTaints();
// Check out the created hull shapes and report their characteristics
ReportShapeGeom(primTypeCylinder);
ReportShapeGeom(primTypeHollowCylinder);
ReportShapeGeom(primTypeTorus);
}
// Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
// this routine will restore the removed constraints.
// Called at taint-time!!
public override void RestoreBodyDependencies(BSPrim child)
{
// The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
}
// Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
// this routine will restore the removed constraints.
// Called at taint-time!!
public override void RestoreBodyDependencies(BSPrim child)
{
}