// 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);
}
// No locking here because this is done when we know physics is not simulating
private void CreateGeomMesh()
{
float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod);
// m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey);
// if this new shape is the same as last time, don't recreate the mesh
if (_meshKey == newMeshKey) return;
// Since we're recreating new, get rid of any previously generated shape
if (_meshKey != 0)
{
// m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
_mesh = null;
_meshKey = 0;
}
_meshKey = newMeshKey;
// always pass false for physicalness as this creates some sort of bounding box which we don't need
_mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, lod, false);
int[] indices = _mesh.getIndexListAsInt();
List<OMV.Vector3> vertices = _mesh.getVertexList();
float[] verticesAsFloats = new float[vertices.Count * 3];
int vi = 0;
foreach (OMV.Vector3 vv in vertices)
{
// m_log.DebugFormat("{0}: {1}: <{2:0.00}, {3:0.00}, {4:0.00}>", LogHeader, vi / 3, vv.X, vv.Y, vv.Z);
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, _localID, _meshKey, indices.Length, vertices.Count);
BulletSimAPI.CreateMesh(_scene.WorldID, _meshKey, indices.GetLength(0), indices,
vertices.Count, verticesAsFloats);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
// meshes are already scaled by the meshmerizer
_scale = new OMV.Vector3(1f, 1f, 1f);
return;
}
}// end CalculateMass
#endregion Mass Calculation
// 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
private void CreateGeom(bool forceRebuild)
{
// the mesher thought this was too simple to mesh. Use a native Bullet collision shape.
if (!_scene.NeedsMeshing(_pbs))
{
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
{
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
{
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
// Bullet native objects are scaled by the Bullet engine so pass the size in
_scale = _size;
}
}
else
{
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
_scale = _size;
}
}
else
{
if (IsPhysical)
{
if (forceRebuild || _hullKey == 0)
{
// physical objects require a hull for interaction.
// This will create the mesh if it doesn't already exist
CreateGeomHull();
}
}
else
{
if (forceRebuild || _meshKey == 0)
{
// Static (non-physical) objects only need a mesh for bumping into
CreateGeomMesh();
}
}
}
}
// No locking here because this is done when we know physics is not simulating
private void CreateGeomHull()
{
float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
// m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey);
// if the hull hasn't changed, don't rebuild it
if (newHullKey == _hullKey) return;
// Since we're recreating new, get rid of any previously generated shape
if (_hullKey != 0)
{
// m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
_hullKey = 0;
_hulls.Clear();
BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
_mesh = null; // the mesh cannot match either
_meshKey = 0;
}
_hullKey = newHullKey;
if (_meshKey != _hullKey)
{
// if the underlying mesh has changed, rebuild it
CreateGeomMesh();
}
int[] indices = _mesh.getIndexListAsInt();
List<OMV.Vector3> vertices = _mesh.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
_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 = _hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach (ConvexResult cr in _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 _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 definition in Bullet
// m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
// meshes are already scaled by the meshmerizer
_scale = new OMV.Vector3(1f, 1f, 1f);
return;
}
private void GenerateHullMesh ()
{
float[] convHulls;
_hullKey = (ulong)_pbs.GetHashCode();
if(_hullMeshDictionary.TryGetValue(_hullKey, out convHulls))
{
// create the hull definition in Bullet
// m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, (int)convHulls[0], convHulls);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
// Let the object be scaled by Bullet (the mesh was created as a unit mesh)
_scale = _size;
return;
}
int[] indices = _mesh.getIndexListAsInt();
List<OMV.Vector3> vertices = _mesh.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
_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 = _hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach(ConvexResult cr in _hulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
}
convHulls = new float[totalVertices];
convHulls[0] = (float)hullCount;
int jj = 1;
foreach(ConvexResult cr in _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 definition in Bullet
// m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
// Let the object be scaled by Bullet (the mesh was created as a unit mesh)
_scale = _size;
}
}// end CalculateMass
#endregion Mass Calculation
// Create the geometry information in Bullet for later use
// No locking here because this is done when we know physics is not simulating
private void CreateGeom()
{
// Since we're recreating new, get rid of any previously generated shape
if (_hullKey != 0)
{
// m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
_hullKey = 0;
_hulls.Clear();
}
if (_mesh == null)
{
// the mesher thought this was too simple to mesh. Use a native Bullet collision shape.
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
{
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
{
// m_log.DebugFormat("{0}: CreateGeom: mesh null. Defaulting to sphere of size {1}", LogHeader, _size);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
// Bullet native objects are scaled by the Bullet engine so pass the size in
_scale = _size;
}
}
else
{
// m_log.DebugFormat("{0}: CreateGeom: mesh null. Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
_scale = _size;
}
}
else
{
GenerateHullMesh();
}
return;
}
