opensim-development – Blame information for rev 1
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1 | eva | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ |
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3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
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4 | * |
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5 | * Redistribution and use in source and binary forms, with or without |
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6 | * modification, are permitted provided that the following conditions are met: |
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7 | * * Redistributions of source code must retain the above copyright |
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8 | * notice, this list of conditions and the following disclaimer. |
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9 | * * Redistributions in binary form must reproduce the above copyrightD |
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10 | * notice, this list of conditions and the following disclaimer in the |
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11 | * documentation and/or other materials provided with the distribution. |
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12 | * * Neither the name of the OpenSimulator Project nor the |
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13 | * names of its contributors may be used to endorse or promote products |
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14 | * derived from this software without specific prior written permission. |
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15 | * |
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16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
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17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
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20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
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21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
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23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
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25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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26 | */ |
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27 | using System; |
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28 | using System.Collections.Generic; |
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29 | using System.Text; |
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30 | using OMV = OpenMetaverse; |
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31 | |||
32 | namespace OpenSim.Region.Physics.BulletSPlugin |
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33 | { |
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34 | // Classes to allow some type checking for the API |
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35 | // These hold pointers to allocated objects in the unmanaged space. |
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36 | // These classes are subclassed by the various physical implementations of |
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37 | // objects. In particular, there is a version for physical instances in |
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38 | // unmanaged memory ("unman") and one for in managed memory ("XNA"). |
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39 | |||
40 | // Currently, the instances of these classes are a reference to a |
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41 | // physical representation and this has no releationship to other |
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42 | // instances. Someday, refarb the usage of these classes so each instance |
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43 | // refers to a particular physical instance and this class controls reference |
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44 | // counts and such. This should be done along with adding BSShapes. |
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45 | |||
46 | public class BulletWorld |
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47 | { |
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48 | public BulletWorld(uint worldId, BSScene bss) |
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49 | { |
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50 | worldID = worldId; |
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51 | physicsScene = bss; |
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52 | } |
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53 | public uint worldID; |
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54 | // The scene is only in here so very low level routines have a handle to print debug/error messages |
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55 | public BSScene physicsScene; |
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56 | } |
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57 | |||
58 | // An allocated Bullet btRigidBody |
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59 | public class BulletBody |
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60 | { |
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61 | public BulletBody(uint id) |
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62 | { |
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63 | ID = id; |
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64 | collisionType = CollisionType.Static; |
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65 | } |
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66 | public uint ID; |
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67 | public CollisionType collisionType; |
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68 | |||
69 | public virtual void Clear() { } |
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70 | public virtual bool HasPhysicalBody { get { return false; } } |
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71 | |||
72 | // Apply the specificed collision mask into the physical world |
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73 | public virtual bool ApplyCollisionMask(BSScene physicsScene) |
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74 | { |
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75 | // Should assert the body has been added to the physical world. |
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76 | // (The collision masks are stored in the collision proxy cache which only exists for |
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77 | // a collision body that is in the world.) |
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78 | return physicsScene.PE.SetCollisionGroupMask(this, |
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79 | BulletSimData.CollisionTypeMasks[collisionType].group, |
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80 | BulletSimData.CollisionTypeMasks[collisionType].mask); |
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81 | } |
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82 | |||
83 | // Used for log messages for a unique display of the memory/object allocated to this instance |
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84 | public virtual string AddrString |
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85 | { |
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86 | get { return "unknown"; } |
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87 | } |
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88 | |||
89 | public override string ToString() |
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90 | { |
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91 | StringBuilder buff = new StringBuilder(); |
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92 | buff.Append("<id="); |
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93 | buff.Append(ID.ToString()); |
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94 | buff.Append(",p="); |
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95 | buff.Append(AddrString); |
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96 | buff.Append(",c="); |
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97 | buff.Append(collisionType); |
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98 | buff.Append(">"); |
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99 | return buff.ToString(); |
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100 | } |
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101 | } |
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102 | |||
103 | public class BulletShape |
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104 | { |
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105 | public BulletShape() |
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106 | { |
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107 | shapeType = BSPhysicsShapeType.SHAPE_UNKNOWN; |
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108 | shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; |
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109 | isNativeShape = false; |
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110 | } |
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111 | public BSPhysicsShapeType shapeType; |
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112 | public System.UInt64 shapeKey; |
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113 | public bool isNativeShape; |
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114 | |||
115 | public virtual void Clear() { } |
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116 | public virtual bool HasPhysicalShape { get { return false; } } |
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117 | |||
118 | // Make another reference to this physical object. |
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119 | public virtual BulletShape Clone() { return new BulletShape(); } |
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120 | |||
121 | // Return 'true' if this and other refer to the same physical object |
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122 | public virtual bool ReferenceSame(BulletShape xx) { return false; } |
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123 | |||
124 | // Used for log messages for a unique display of the memory/object allocated to this instance |
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125 | public virtual string AddrString |
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126 | { |
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127 | get { return "unknown"; } |
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128 | } |
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129 | |||
130 | public override string ToString() |
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131 | { |
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132 | StringBuilder buff = new StringBuilder(); |
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133 | buff.Append("<p="); |
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134 | buff.Append(AddrString); |
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135 | buff.Append(",s="); |
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136 | buff.Append(shapeType.ToString()); |
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137 | buff.Append(",k="); |
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138 | buff.Append(shapeKey.ToString("X")); |
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139 | buff.Append(",n="); |
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140 | buff.Append(isNativeShape.ToString()); |
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141 | buff.Append(">"); |
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142 | return buff.ToString(); |
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143 | } |
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144 | } |
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145 | |||
146 | // An allocated Bullet btConstraint |
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147 | public class BulletConstraint |
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148 | { |
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149 | public BulletConstraint() |
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150 | { |
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151 | } |
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152 | public virtual void Clear() { } |
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153 | public virtual bool HasPhysicalConstraint { get { return false; } } |
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154 | |||
155 | // Used for log messages for a unique display of the memory/object allocated to this instance |
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156 | public virtual string AddrString |
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157 | { |
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158 | get { return "unknown"; } |
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159 | } |
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160 | } |
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161 | |||
162 | // An allocated HeightMapThing which holds various heightmap info. |
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163 | // Made a class rather than a struct so there would be only one |
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164 | // instance of this and C# will pass around pointers rather |
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165 | // than making copies. |
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166 | public class BulletHMapInfo |
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167 | { |
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168 | public BulletHMapInfo(uint id, float[] hm, float pSizeX, float pSizeY) { |
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169 | ID = id; |
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170 | heightMap = hm; |
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171 | terrainRegionBase = OMV.Vector3.Zero; |
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172 | minCoords = new OMV.Vector3(100f, 100f, 25f); |
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173 | maxCoords = new OMV.Vector3(101f, 101f, 26f); |
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174 | minZ = maxZ = 0f; |
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175 | sizeX = pSizeX; |
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176 | sizeY = pSizeY; |
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177 | } |
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178 | public uint ID; |
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179 | public float[] heightMap; |
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180 | public OMV.Vector3 terrainRegionBase; |
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181 | public OMV.Vector3 minCoords; |
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182 | public OMV.Vector3 maxCoords; |
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183 | public float sizeX, sizeY; |
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184 | public float minZ, maxZ; |
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185 | public BulletShape terrainShape; |
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186 | public BulletBody terrainBody; |
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187 | } |
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188 | |||
189 | // The general class of collsion object. |
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190 | public enum CollisionType |
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191 | { |
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192 | Avatar, |
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193 | Groundplane, |
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194 | Terrain, |
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195 | Static, |
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196 | Dynamic, |
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197 | VolumeDetect, |
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198 | // Linkset, // A linkset should be either Static or Dynamic |
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199 | LinksetChild, |
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200 | Unknown |
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201 | }; |
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202 | |||
203 | // Hold specification of group and mask collision flags for a CollisionType |
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204 | public struct CollisionTypeFilterGroup |
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205 | { |
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206 | public CollisionTypeFilterGroup(CollisionType t, uint g, uint m) |
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207 | { |
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208 | type = t; |
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209 | group = g; |
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210 | mask = m; |
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211 | } |
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212 | public CollisionType type; |
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213 | public uint group; |
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214 | public uint mask; |
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215 | }; |
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216 | |||
217 | public static class BulletSimData |
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218 | { |
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219 | |||
220 | // Map of collisionTypes to flags for collision groups and masks. |
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221 | // An object's 'group' is the collison groups this object belongs to |
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222 | // An object's 'filter' is the groups another object has to belong to in order to collide with me |
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223 | // A collision happens if ((obj1.group & obj2.filter) != 0) || ((obj2.group & obj1.filter) != 0) |
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224 | // |
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225 | // As mentioned above, don't use the CollisionFilterGroups definitions directly in the code |
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226 | // but, instead, use references to this dictionary. Finding and debugging |
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227 | // collision flag problems will be made easier. |
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228 | public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks |
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229 | = new Dictionary<CollisionType, CollisionTypeFilterGroup>() |
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230 | { |
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231 | { CollisionType.Avatar, |
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232 | new CollisionTypeFilterGroup(CollisionType.Avatar, |
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233 | (uint)CollisionFilterGroups.BCharacterGroup, |
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234 | (uint)CollisionFilterGroups.BAllGroup) |
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235 | }, |
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236 | { CollisionType.Groundplane, |
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237 | new CollisionTypeFilterGroup(CollisionType.Groundplane, |
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238 | (uint)CollisionFilterGroups.BGroundPlaneGroup, |
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239 | // (uint)CollisionFilterGroups.BAllGroup) |
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240 | (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) |
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241 | }, |
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242 | { CollisionType.Terrain, |
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243 | new CollisionTypeFilterGroup(CollisionType.Terrain, |
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244 | (uint)CollisionFilterGroups.BTerrainGroup, |
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245 | (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup)) |
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246 | }, |
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247 | { CollisionType.Static, |
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248 | new CollisionTypeFilterGroup(CollisionType.Static, |
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249 | (uint)CollisionFilterGroups.BStaticGroup, |
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250 | (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) |
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251 | }, |
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252 | { CollisionType.Dynamic, |
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253 | new CollisionTypeFilterGroup(CollisionType.Dynamic, |
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254 | (uint)CollisionFilterGroups.BSolidGroup, |
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255 | (uint)(CollisionFilterGroups.BAllGroup)) |
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256 | }, |
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257 | { CollisionType.VolumeDetect, |
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258 | new CollisionTypeFilterGroup(CollisionType.VolumeDetect, |
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259 | (uint)CollisionFilterGroups.BSensorTrigger, |
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260 | (uint)(~CollisionFilterGroups.BSensorTrigger)) |
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261 | }, |
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262 | { CollisionType.LinksetChild, |
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263 | new CollisionTypeFilterGroup(CollisionType.LinksetChild, |
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264 | (uint)CollisionFilterGroups.BLinksetChildGroup, |
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265 | (uint)(CollisionFilterGroups.BNoneGroup)) |
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266 | // (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) |
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267 | }, |
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268 | }; |
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269 | |||
270 | } |
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271 | } |