clockwerk-opensim-stable – Rev 1
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using System;
using System.Collections.Generic;
using System.Text;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenSim.Region.Physics.Meshing;
using OpenSim.Region.Physics.ConvexDecompositionDotNet;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public abstract class BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE]";
public int referenceCount { get; set; }
public DateTime lastReferenced { get; set; }
public BulletShape physShapeInfo { get; set; }
public BSShape()
{
referenceCount = 1;
lastReferenced = DateTime.Now;
physShapeInfo = new BulletShape();
}
public BSShape(BulletShape pShape)
{
referenceCount = 1;
lastReferenced = DateTime.Now;
physShapeInfo = pShape;
}
// Get another reference to this shape.
public abstract BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim);
// Called when this shape is being used again.
// Used internally. External callers should call instance.GetReference() to properly copy/reference
// the shape.
protected virtual void IncrementReference()
{
referenceCount++;
lastReferenced = DateTime.Now;
}
// Called when this shape is being used again.
protected virtual void DecrementReference()
{
referenceCount--;
lastReferenced = DateTime.Now;
}
// Release the use of a physical shape.
public abstract void Dereference(BSScene physicsScene);
// Return 'true' if there is an allocated physics physical shape under this class instance.
public virtual bool HasPhysicalShape
{
get
{
if (physShapeInfo != null)
return physShapeInfo.HasPhysicalShape;
return false;
}
}
public virtual BSPhysicsShapeType ShapeType
{
get
{
BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
if (physShapeInfo != null && physShapeInfo.HasPhysicalShape)
ret = physShapeInfo.shapeType;
return ret;
}
}
// Returns a string for debugging that uniquily identifies the memory used by this instance
public virtual string AddrString
{
get
{
if (physShapeInfo != null)
return physShapeInfo.AddrString;
return "unknown";
}
}
public override string ToString()
{
StringBuilder buff = new StringBuilder();
if (physShapeInfo == null)
{
buff.Append("<noPhys");
}
else
{
buff.Append("<phy=");
buff.Append(physShapeInfo.ToString());
}
buff.Append(",c=");
buff.Append(referenceCount.ToString());
buff.Append(">");
return buff.ToString();
}
#region Common shape routines
// Create a hash of all the shape parameters to be used as a key for this particular shape.
public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
{
// level of detail based on size and type of the object
float lod = BSParam.MeshLOD;
if (pbs.SculptEntry)
lod = BSParam.SculptLOD;
// Mega prims usually get more detail because one can interact with shape approximations at this size.
float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
if (maxAxis > BSParam.MeshMegaPrimThreshold)
lod = BSParam.MeshMegaPrimLOD;
retLod = lod;
return pbs.GetMeshKey(size, lod);
}
// The creation of a mesh or hull can fail if an underlying asset is not available.
// There are two cases: 1) the asset is not in the cache and it needs to be fetched;
// and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
// The first case causes the asset to be fetched. The second case requires
// us to not loop forever.
// Called after creating a physical mesh or hull. If the physical shape was created,
// just return.
public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim)
{
// If the shape was successfully created, nothing more to do
if (newShape.HasPhysicalShape)
return newShape;
// VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been
// fetched but we end up here again, the meshing of the asset must have failed.
// Prevent trying to keep fetching the mesh by declaring failure.
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
{
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing;
physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. prim={1}, texture={2}",
LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,setFailed,prim={1},tex={2}",
prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
}
else
{
// If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
if (prim.BaseShape.SculptEntry
&& prim.PrimAssetState != BSPhysObject.PrimAssetCondition.FailedAssetFetch
&& prim.PrimAssetState != BSPhysObject.PrimAssetCondition.FailedMeshing
&& prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting
&& prim.BaseShape.SculptTexture != OMV.UUID.Zero
)
{
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAsset,objNam={1},tex={2}",
prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture);
// Multiple requestors will know we're waiting for this asset
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting;
BSPhysObject xprim = prim;
Util.FireAndForget(delegate
{
// physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,inFireAndForget", xprim.LocalID);
RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod;
if (assetProvider != null)
{
BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
{
// physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID);
bool assetFound = false;
string mismatchIDs = String.Empty; // DEBUG DEBUG
if (asset != null && yprim.BaseShape.SculptEntry)
{
if (yprim.BaseShape.SculptTexture.ToString() == asset.ID)
{
yprim.BaseShape.SculptData = asset.Data;
// This will cause the prim to see that the filler shape is not the right
// one and try again to build the object.
// No race condition with the normal shape setting since the rebuild is at taint time.
yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched;
yprim.ForceBodyShapeRebuild(false /* inTaintTime */);
assetFound = true;
}
else
{
mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID;
}
}
if (!assetFound)
{
yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch;
}
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs );
});
}
else
{
xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch;
physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
LogHeader, physicsScene.Name);
}
});
}
else
{
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch)
{
physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. prim={1}, texture={2}",
LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailed,prim={1},tex={2}",
prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
}
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing)
{
physicsScene.Logger.WarnFormat("{0} Mesh asset would not mesh. prim={1}, texture={2}",
LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailedMeshing,prim={1},tex={2}",
prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
}
}
}
// While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
BSShape fillShape = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,boxTempShape", prim.LocalID);
return fillShape.physShapeInfo;
}
public static String UsefulPrimInfo(BSScene pScene, BSPhysObject prim)
{
StringBuilder buff = new StringBuilder(prim.PhysObjectName);
buff.Append("/pos=");
buff.Append(prim.RawPosition.ToString());
if (pScene != null)
{
buff.Append("/rgn=");
buff.Append(pScene.Name);
}
return buff.ToString();
}
#endregion // Common shape routines
}
// ============================================================================================================
public class BSShapeNull : BSShape
{
public BSShapeNull() : base()
{
}
public static BSShape GetReference() { return new BSShapeNull(); }
public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) { return new BSShapeNull(); }
public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
}
// ============================================================================================================
public class BSShapeNative : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
public BSShapeNative(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
// Native shapes are not shared and are always built anew.
return new BSShapeNative(CreatePhysicalNativeShape(physicsScene, prim, shapeType, shapeKey));
}
public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
{
// Native shapes are not shared so we return a new shape.
BSShape ret = null;
lock (physShapeInfo)
{
ret = new BSShapeNative(CreatePhysicalNativeShape(pPhysicsScene, pPrim,
physShapeInfo.shapeType, (FixedShapeKey)physShapeInfo.shapeKey));
}
return ret;
}
// Make this reference to the physical shape go away since native shapes are not shared.
public override void Dereference(BSScene physicsScene)
{
// Native shapes are not tracked and are released immediately
lock (physShapeInfo)
{
if (physShapeInfo.HasPhysicalShape)
{
physicsScene.DetailLog("{0},BSShapeNative.Dereference,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
}
physShapeInfo.Clear();
// Garbage collection will free up this instance.
}
}
private static BulletShape CreatePhysicalNativeShape(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
BulletShape newShape;
ShapeData nativeShapeData = new ShapeData();
nativeShapeData.Type = shapeType;
nativeShapeData.ID = prim.LocalID;
nativeShapeData.Scale = prim.Scale;
nativeShapeData.Size = prim.Scale;
nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.HullKey = (ulong)shapeKey;
if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
{
newShape = physicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
physicsScene.DetailLog("{0},BSShapeNative,capsule,scale={1}", prim.LocalID, prim.Scale);
}
else
{
newShape = physicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
}
if (!newShape.HasPhysicalShape)
{
physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
LogHeader, prim.LocalID, shapeType);
}
newShape.shapeType = shapeType;
newShape.isNativeShape = true;
newShape.shapeKey = (UInt64)shapeKey;
return newShape;
}
}
// ============================================================================================================
public class BSShapeMesh : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE MESH]";
public static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
public BSShapeMesh(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
float lod;
System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
BSShapeMesh retMesh = null;
lock (Meshes)
{
if (Meshes.TryGetValue(newMeshKey, out retMesh))
{
// The mesh has already been created. Return a new reference to same.
retMesh.IncrementReference();
}
else
{
retMesh = new BSShapeMesh(new BulletShape());
// An instance of this mesh has not been created. Build and remember same.
BulletShape newShape = retMesh.CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod);
// Check to see if mesh was created (might require an asset).
newShape = VerifyMeshCreated(physicsScene, newShape, prim);
if (!newShape.isNativeShape
|| prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing
|| prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch)
{
// If a mesh was what was created, remember the built shape for later sharing.
// Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh.
Meshes.Add(newMeshKey, retMesh);
}
retMesh.physShapeInfo = newShape;
}
}
physicsScene.DetailLog("{0},BSShapeMesh,getReference,mesh={1},size={2},lod={3}", prim.LocalID, retMesh, prim.Size, lod);
return retMesh;
}
public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
{
BSShape ret = null;
// If the underlying shape is native, the actual shape has not been build (waiting for asset)
// and we must create a copy of the native shape since they are never shared.
if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape)
{
// TODO: decide when the native shapes should be freed. Check in Dereference?
ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
}
else
{
// Another reference to this shape is just counted.
IncrementReference();
ret = this;
}
return ret;
}
public override void Dereference(BSScene physicsScene)
{
lock (Meshes)
{
this.DecrementReference();
physicsScene.DetailLog("{0},BSShapeMesh.Dereference,shape={1}", BSScene.DetailLogZero, this);
// TODO: schedule aging and destruction of unused meshes.
}
}
// Loop through all the known meshes and return the description based on the physical address.
public static bool TryGetMeshByPtr(BulletShape pShape, out BSShapeMesh outMesh)
{
bool ret = false;
BSShapeMesh foundDesc = null;
lock (Meshes)
{
foreach (BSShapeMesh sm in Meshes.Values)
{
if (sm.physShapeInfo.ReferenceSame(pShape))
{
foundDesc = sm;
ret = true;
break;
}
}
}
outMesh = foundDesc;
return ret;
}
public delegate BulletShape CreateShapeCall(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices );
private BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
(w, iC, i, vC, v) => physicsScene.PE.CreateMeshShape(w, iC, i, vC, v) );
}
// Code that uses the mesher to create the index/vertices info for a trimesh shape.
// This is used by the passed 'makeShape' call to create the Bullet mesh shape.
// The actual build call is passed so this logic can be used by several of the shapes that use a
// simple mesh as their base shape.
public static BulletShape CreatePhysicalMeshShape(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod, CreateShapeCall makeShape)
{
BulletShape newShape = new BulletShape();
IMesh meshData = null;
lock (physicsScene.mesher)
{
meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod,
false, // say it is not physical so a bounding box is not built
false // do not cache the mesh and do not use previously built versions
);
}
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();
int realIndicesIndex = indices.Length;
float[] verticesAsFloats = meshData.getVertexListAsFloat();
if (BSParam.ShouldRemoveZeroWidthTriangles)
{
// Remove degenerate triangles. These are triangles with two of the vertices
// are the same. This is complicated by the problem that vertices are not
// made unique in sculpties so we have to compare the values in the vertex.
realIndicesIndex = 0;
for (int tri = 0; tri < indices.Length; tri += 3)
{
// Compute displacements into vertex array for each vertex of the triangle
int v1 = indices[tri + 0] * 3;
int v2 = indices[tri + 1] * 3;
int v3 = indices[tri + 2] * 3;
// Check to see if any two of the vertices are the same
if (!( ( verticesAsFloats[v1 + 0] == verticesAsFloats[v2 + 0]
&& verticesAsFloats[v1 + 1] == verticesAsFloats[v2 + 1]
&& verticesAsFloats[v1 + 2] == verticesAsFloats[v2 + 2])
|| ( verticesAsFloats[v2 + 0] == verticesAsFloats[v3 + 0]
&& verticesAsFloats[v2 + 1] == verticesAsFloats[v3 + 1]
&& verticesAsFloats[v2 + 2] == verticesAsFloats[v3 + 2])
|| ( verticesAsFloats[v1 + 0] == verticesAsFloats[v3 + 0]
&& verticesAsFloats[v1 + 1] == verticesAsFloats[v3 + 1]
&& verticesAsFloats[v1 + 2] == verticesAsFloats[v3 + 2]) )
)
{
// None of the vertices of the triangles are the same. This is a good triangle;
indices[realIndicesIndex + 0] = indices[tri + 0];
indices[realIndicesIndex + 1] = indices[tri + 1];
indices[realIndicesIndex + 2] = indices[tri + 2];
realIndicesIndex += 3;
}
}
}
physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,key={1},origTri={2},realTri={3},numVerts={4}",
BSScene.DetailLogZero, newMeshKey.ToString("X"), indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3);
if (realIndicesIndex != 0)
{
newShape = makeShape(physicsScene.World, realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats);
}
else
{
// Force the asset condition to 'failed' so we won't try to keep fetching and processing this mesh.
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing;
physicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim={1}", LogHeader, UsefulPrimInfo(physicsScene, prim) );
physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,allDegenerate,key={1}", prim.LocalID, newMeshKey);
}
}
newShape.shapeKey = newMeshKey;
return newShape;
}
}
// ============================================================================================================
public class BSShapeHull : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE HULL]";
public static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
public BSShapeHull(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
float lod;
System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
BSShapeHull retHull = null;
lock (Hulls)
{
if (Hulls.TryGetValue(newHullKey, out retHull))
{
// The mesh has already been created. Return a new reference to same.
retHull.IncrementReference();
}
else
{
retHull = new BSShapeHull(new BulletShape());
// An instance of this mesh has not been created. Build and remember same.
BulletShape newShape = retHull.CreatePhysicalHull(physicsScene, prim, newHullKey, prim.BaseShape, prim.Size, lod);
// Check to see if hull was created (might require an asset).
newShape = VerifyMeshCreated(physicsScene, newShape, prim);
if (!newShape.isNativeShape
|| prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing
|| prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch)
{
// If a mesh was what was created, remember the built shape for later sharing.
Hulls.Add(newHullKey, retHull);
}
retHull.physShapeInfo = newShape;
}
}
physicsScene.DetailLog("{0},BSShapeHull,getReference,hull={1},size={2},lod={3}", prim.LocalID, retHull, prim.Size, lod);
return retHull;
}
public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
{
BSShape ret = null;
// If the underlying shape is native, the actual shape has not been build (waiting for asset)
// and we must create a copy of the native shape since they are never shared.
if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape)
{
// TODO: decide when the native shapes should be freed. Check in Dereference?
ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
}
else
{
// Another reference to this shape is just counted.
IncrementReference();
ret = this;
}
return ret;
}
public override void Dereference(BSScene physicsScene)
{
lock (Hulls)
{
this.DecrementReference();
physicsScene.DetailLog("{0},BSShapeHull.Dereference,shape={1}", BSScene.DetailLogZero, this);
// TODO: schedule aging and destruction of unused meshes.
}
}
List<ConvexResult> m_hulls;
private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
BulletShape newShape = new BulletShape();
IMesh meshData = null;
List<List<OMV.Vector3>> allHulls = null;
lock (physicsScene.mesher)
{
// Pass true for physicalness as this prevents the creation of bounding box which is not needed
meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
// If we should use the asset's hull info, fetch it out of the locked mesher
if (meshData != null && BSParam.ShouldUseAssetHulls)
{
Meshmerizer realMesher = physicsScene.mesher as Meshmerizer;
if (realMesher != null)
{
allHulls = realMesher.GetConvexHulls(size);
}
if (allHulls == null)
{
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,noAssetHull", prim.LocalID);
}
}
}
// If there is hull data in the mesh asset, build the hull from that
if (allHulls != null && BSParam.ShouldUseAssetHulls)
{
int hullCount = allHulls.Count;
int totalVertices = 1; // include one for the count of the hulls
// Using the structure described for HACD hulls, create the memory sturcture
// to pass the hull data to the creater.
foreach (List<OMV.Vector3> hullVerts in allHulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += hullVerts.Count * 3; // one vertex is three dimensions
}
float[] convHulls = new float[totalVertices];
convHulls[0] = (float)hullCount;
int jj = 1;
foreach (List<OMV.Vector3> hullVerts in allHulls)
{
convHulls[jj + 0] = hullVerts.Count;
convHulls[jj + 1] = 0f; // centroid x,y,z
convHulls[jj + 2] = 0f;
convHulls[jj + 3] = 0f;
jj += 4;
foreach (OMV.Vector3 oneVert in hullVerts)
{
convHulls[jj + 0] = oneVert.X;
convHulls[jj + 1] = oneVert.Y;
convHulls[jj + 2] = oneVert.Z;
jj += 3;
}
}
// create the hull data structure in Bullet
newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}",
prim.LocalID, hullCount, totalVertices, newShape);
}
// If no hull specified in the asset and we should use Bullet's HACD approximation...
if (!newShape.HasPhysicalShape && 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,bulletHACD,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,shape={1}", prim.LocalID, newShape);
// Now done with the mesh shape.
meshShape.Dereference(physicsScene);
}
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
}
// If no other hull specifications, use our HACD hull approximation.
if (!newShape.HasPhysicalShape && 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;
}
// Callback from convex hull creater with a newly created hull.
// Just add it to our collection of hulls for this shape.
private void HullReturn(ConvexResult result)
{
m_hulls.Add(result);
return;
}
// Loop through all the known hulls and return the description based on the physical address.
public static bool TryGetHullByPtr(BulletShape pShape, out BSShapeHull outHull)
{
bool ret = false;
BSShapeHull foundDesc = null;
lock (Hulls)
{
foreach (BSShapeHull sh in Hulls.Values)
{
if (sh.physShapeInfo.ReferenceSame(pShape))
{
foundDesc = sh;
ret = true;
break;
}
}
}
outHull = foundDesc;
return ret;
}
}
// ============================================================================================================
public class BSShapeCompound : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
public BSShapeCompound(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference(BSScene physicsScene)
{
// Base compound shapes are not shared so this returns a raw shape.
// A built compound shape can be reused in linksets.
return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene));
}
public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim)
{
// Calling this reference means we want another handle to an existing compound shape
// (usually linksets) so return this copy.
IncrementReference();
return this;
}
// Dereferencing a compound shape releases the hold on all the child shapes.
public override void Dereference(BSScene physicsScene)
{
lock (physShapeInfo)
{
this.DecrementReference();
physicsScene.DetailLog("{0},BSShapeCompound.Dereference,shape={1}", BSScene.DetailLogZero, this);
if (referenceCount <= 0)
{
if (!physicsScene.PE.IsCompound(physShapeInfo))
{
// Failed the sanity check!!
physicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
LogHeader, physShapeInfo.shapeType, physShapeInfo.AddrString);
physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
BSScene.DetailLogZero, physShapeInfo.shapeType, physShapeInfo.AddrString);
return;
}
int numChildren = physicsScene.PE.GetNumberOfCompoundChildren(physShapeInfo);
physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}",
BSScene.DetailLogZero, physShapeInfo, numChildren);
// Loop through all the children dereferencing each.
for (int ii = numChildren - 1; ii >= 0; ii--)
{
BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii);
DereferenceAnonCollisionShape(physicsScene, childShape);
}
physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
}
}
}
private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene)
{
BulletShape cShape = physicsScene.PE.CreateCompoundShape(physicsScene.World, false);
return cShape;
}
// Sometimes we have a pointer to a collision shape but don't know what type it is.
// Figure out type and call the correct dereference routine.
// Called at taint-time.
private void DereferenceAnonCollisionShape(BSScene physicsScene, BulletShape pShape)
{
// TODO: figure a better way to go through all the shape types and find a possible instance.
BSShapeMesh meshDesc;
if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc))
{
meshDesc.Dereference(physicsScene);
}
else
{
BSShapeHull hullDesc;
if (BSShapeHull.TryGetHullByPtr(pShape, out hullDesc))
{
hullDesc.Dereference(physicsScene);
}
else
{
BSShapeConvexHull chullDesc;
if (BSShapeConvexHull.TryGetHullByPtr(pShape, out chullDesc))
{
chullDesc.Dereference(physicsScene);
}
else
{
BSShapeGImpact gImpactDesc;
if (BSShapeGImpact.TryGetGImpactByPtr(pShape, out gImpactDesc))
{
gImpactDesc.Dereference(physicsScene);
}
else
{
// Didn't find it in the lists of specific types. It could be compound.
if (physicsScene.PE.IsCompound(pShape))
{
BSShapeCompound recursiveCompound = new BSShapeCompound(pShape);
recursiveCompound.Dereference(physicsScene);
}
else
{
// If none of the above, maybe it is a simple native shape.
if (physicsScene.PE.IsNativeShape(pShape))
{
BSShapeNative nativeShape = new BSShapeNative(pShape);
nativeShape.Dereference(physicsScene);
}
}
}
}
}
}
}
}
// ============================================================================================================
public class BSShapeConvexHull : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE CONVEX HULL]";
public static Dictionary<System.UInt64, BSShapeConvexHull> ConvexHulls = new Dictionary<System.UInt64, BSShapeConvexHull>();
public BSShapeConvexHull(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
float lod;
System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
physicsScene.DetailLog("{0},BSShapeConvexHull,getReference,newKey={1},size={2},lod={3}",
prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod);
BSShapeConvexHull retConvexHull = null;
lock (ConvexHulls)
{
if (ConvexHulls.TryGetValue(newMeshKey, out retConvexHull))
{
// The mesh has already been created. Return a new reference to same.
retConvexHull.IncrementReference();
}
else
{
retConvexHull = new BSShapeConvexHull(new BulletShape());
BulletShape convexShape = null;
// Get a handle to a mesh to build the hull from
BSShape baseMesh = BSShapeMesh.GetReference(physicsScene, false /* forceRebuild */, prim);
if (baseMesh.physShapeInfo.isNativeShape)
{
// We get here if the mesh was not creatable. Could be waiting for an asset from the disk.
// In the short term, we return the native shape and a later ForceBodyShapeRebuild should
// get back to this code with a buildable mesh.
// TODO: not sure the temp native shape is freed when the mesh is rebuilt. When does this get freed?
convexShape = baseMesh.physShapeInfo;
}
else
{
convexShape = physicsScene.PE.BuildConvexHullShapeFromMesh(physicsScene.World, baseMesh.physShapeInfo);
convexShape.shapeKey = newMeshKey;
ConvexHulls.Add(convexShape.shapeKey, retConvexHull);
}
// Done with the base mesh
baseMesh.Dereference(physicsScene);
retConvexHull.physShapeInfo = convexShape;
}
}
return retConvexHull;
}
public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim)
{
// Calling this reference means we want another handle to an existing shape
// (usually linksets) so return this copy.
IncrementReference();
return this;
}
// Dereferencing a compound shape releases the hold on all the child shapes.
public override void Dereference(BSScene physicsScene)
{
lock (ConvexHulls)
{
this.DecrementReference();
physicsScene.DetailLog("{0},BSShapeConvexHull.Dereference,shape={1}", BSScene.DetailLogZero, this);
// TODO: schedule aging and destruction of unused meshes.
}
}
// Loop through all the known hulls and return the description based on the physical address.
public static bool TryGetHullByPtr(BulletShape pShape, out BSShapeConvexHull outHull)
{
bool ret = false;
BSShapeConvexHull foundDesc = null;
lock (ConvexHulls)
{
foreach (BSShapeConvexHull sh in ConvexHulls.Values)
{
if (sh.physShapeInfo.ReferenceSame(pShape))
{
foundDesc = sh;
ret = true;
break;
}
}
}
outHull = foundDesc;
return ret;
}
}
// ============================================================================================================
public class BSShapeGImpact : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE GIMPACT]";
public static Dictionary<System.UInt64, BSShapeGImpact> GImpacts = new Dictionary<System.UInt64, BSShapeGImpact>();
public BSShapeGImpact(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
float lod;
System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
physicsScene.DetailLog("{0},BSShapeGImpact,getReference,newKey={1},size={2},lod={3}",
prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod);
BSShapeGImpact retGImpact = null;
lock (GImpacts)
{
if (GImpacts.TryGetValue(newMeshKey, out retGImpact))
{
// The mesh has already been created. Return a new reference to same.
retGImpact.IncrementReference();
}
else
{
retGImpact = new BSShapeGImpact(new BulletShape());
BulletShape newShape = retGImpact.CreatePhysicalGImpact(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod);
// Check to see if mesh was created (might require an asset).
newShape = VerifyMeshCreated(physicsScene, newShape, prim);
newShape.shapeKey = newMeshKey;
if (!newShape.isNativeShape
|| prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing
|| prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch)
{
// If a mesh was what was created, remember the built shape for later sharing.
// Also note that if meshing failed we put it in the mesh list as there is nothing
// else to do about the mesh.
GImpacts.Add(newMeshKey, retGImpact);
}
retGImpact.physShapeInfo = newShape;
}
}
return retGImpact;
}
private BulletShape CreatePhysicalGImpact(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
(w, iC, i, vC, v) => physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v) );
}
public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
{
BSShape ret = null;
// If the underlying shape is native, the actual shape has not been build (waiting for asset)
// and we must create a copy of the native shape since they are never shared.
if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape)
{
// TODO: decide when the native shapes should be freed. Check in Dereference?
ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
}
else
{
// Another reference to this shape is just counted.
IncrementReference();
ret = this;
}
return ret;
}
// Dereferencing a compound shape releases the hold on all the child shapes.
public override void Dereference(BSScene physicsScene)
{
lock (GImpacts)
{
this.DecrementReference();
physicsScene.DetailLog("{0},BSShapeGImpact.Dereference,shape={1}", BSScene.DetailLogZero, this);
// TODO: schedule aging and destruction of unused meshes.
}
}
// Loop through all the known hulls and return the description based on the physical address.
public static bool TryGetGImpactByPtr(BulletShape pShape, out BSShapeGImpact outHull)
{
bool ret = false;
BSShapeGImpact foundDesc = null;
lock (GImpacts)
{
foreach (BSShapeGImpact sh in GImpacts.Values)
{
if (sh.physShapeInfo.ReferenceSame(pShape))
{
foundDesc = sh;
ret = true;
break;
}
}
}
outHull = foundDesc;
return ret;
}
}
// ============================================================================================================
public class BSShapeAvatar : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE AVATAR]";
public BSShapeAvatar() : base()
{
}
public static BSShape GetReference(BSPhysObject prim)
{
return new BSShapeNull();
}
public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
{
return new BSShapeNull();
}
public override void Dereference(BSScene physicsScene) { }
// From the front:
// A---A
// / \
// B-------B
// / \ +Z
// C-----------C |
// \ / -Y --+-- +Y
// \ / |
// \ / -Z
// D-----D
// \ /
// E-E
// From the top A and E are just lines.
// B, C and D are hexagons:
//
// C1--C2 +X
// / \ |
// C0 C3 -Y --+-- +Y
// \ / |
// C5--C4 -X
// Zero goes directly through the middle so the offsets are from that middle axis
// and up and down from a middle horizon (A and E are the same distance from the zero).
// The height, width and depth is one. All scaling is done by the simulator.
// Z component -- how far the level is from the middle zero
private const float Aup = 0.5f;
private const float Bup = 0.4f;
private const float Cup = 0.3f;
private const float Dup = -0.4f;
private const float Eup = -0.5f;
// Y component -- distance from center to x0 and x3
private const float Awid = 0.25f;
private const float Bwid = 0.3f;
private const float Cwid = 0.5f;
private const float Dwid = 0.3f;
private const float Ewid = 0.2f;
// Y component -- distance from center to x1, x2, x4 and x5
private const float Afwid = 0.0f;
private const float Bfwid = 0.2f;
private const float Cfwid = 0.4f;
private const float Dfwid = 0.2f;
private const float Efwid = 0.0f;
// X component -- distance from zero to the front or back of a level
private const float Adep = 0f;
private const float Bdep = 0.3f;
private const float Cdep = 0.5f;
private const float Ddep = 0.2f;
private const float Edep = 0f;
private OMV.Vector3[] avatarVertices = {
new OMV.Vector3( 0.0f, -Awid, Aup), // A0
new OMV.Vector3( 0.0f, +Awid, Aup), // A3
new OMV.Vector3( 0.0f, -Bwid, Bup), // B0
new OMV.Vector3(+Bdep, -Bfwid, Bup), // B1
new OMV.Vector3(+Bdep, +Bfwid, Bup), // B2
new OMV.Vector3( 0.0f, +Bwid, Bup), // B3
new OMV.Vector3(-Bdep, +Bfwid, Bup), // B4
new OMV.Vector3(-Bdep, -Bfwid, Bup), // B5
new OMV.Vector3( 0.0f, -Cwid, Cup), // C0
new OMV.Vector3(+Cdep, -Cfwid, Cup), // C1
new OMV.Vector3(+Cdep, +Cfwid, Cup), // C2
new OMV.Vector3( 0.0f, +Cwid, Cup), // C3
new OMV.Vector3(-Cdep, +Cfwid, Cup), // C4
new OMV.Vector3(-Cdep, -Cfwid, Cup), // C5
new OMV.Vector3( 0.0f, -Dwid, Dup), // D0
new OMV.Vector3(+Ddep, -Dfwid, Dup), // D1
new OMV.Vector3(+Ddep, +Dfwid, Dup), // D2
new OMV.Vector3( 0.0f, +Dwid, Dup), // D3
new OMV.Vector3(-Ddep, +Dfwid, Dup), // D4
new OMV.Vector3(-Ddep, -Dfwid, Dup), // D5
new OMV.Vector3( 0.0f, -Ewid, Eup), // E0
new OMV.Vector3( 0.0f, +Ewid, Eup), // E3
};
// Offsets of the vertices in the vertices array
private enum Ind : int
{
A0, A3,
B0, B1, B2, B3, B4, B5,
C0, C1, C2, C3, C4, C5,
D0, D1, D2, D3, D4, D5,
E0, E3
}
// Comments specify trianges and quads in clockwise direction
private Ind[] avatarIndices = {
Ind.A0, Ind.B0, Ind.B1, // A0,B0,B1
Ind.A0, Ind.B1, Ind.B2, Ind.B2, Ind.A3, Ind.A0, // A0,B1,B2,A3
Ind.A3, Ind.B2, Ind.B3, // A3,B2,B3
Ind.A3, Ind.B3, Ind.B4, // A3,B3,B4
Ind.A3, Ind.B4, Ind.B5, Ind.B5, Ind.A0, Ind.A3, // A3,B4,B5,A0
Ind.A0, Ind.B5, Ind.B0, // A0,B5,B0
Ind.B0, Ind.C0, Ind.C1, Ind.C1, Ind.B1, Ind.B0, // B0,C0,C1,B1
Ind.B1, Ind.C1, Ind.C2, Ind.C2, Ind.B2, Ind.B1, // B1,C1,C2,B2
Ind.B2, Ind.C2, Ind.C3, Ind.C3, Ind.B3, Ind.B2, // B2,C2,C3,B3
Ind.B3, Ind.C3, Ind.C4, Ind.C4, Ind.B4, Ind.B3, // B3,C3,C4,B4
Ind.B4, Ind.C4, Ind.C5, Ind.C5, Ind.B5, Ind.B4, // B4,C4,C5,B5
Ind.B5, Ind.C5, Ind.C0, Ind.C0, Ind.B0, Ind.B5, // B5,C5,C0,B0
Ind.C0, Ind.D0, Ind.D1, Ind.D1, Ind.C1, Ind.C0, // C0,D0,D1,C1
Ind.C1, Ind.D1, Ind.D2, Ind.D2, Ind.C2, Ind.C1, // C1,D1,D2,C2
Ind.C2, Ind.D2, Ind.D3, Ind.D3, Ind.C3, Ind.C2, // C2,D2,D3,C3
Ind.C3, Ind.D3, Ind.D4, Ind.D4, Ind.C4, Ind.C3, // C3,D3,D4,C4
Ind.C4, Ind.D4, Ind.D5, Ind.D5, Ind.C5, Ind.C4, // C4,D4,D5,C5
Ind.C5, Ind.D5, Ind.D0, Ind.D0, Ind.C0, Ind.C5, // C5,D5,D0,C0
Ind.E0, Ind.D0, Ind.D1, // E0,D0,D1
Ind.E0, Ind.D1, Ind.D2, Ind.D2, Ind.E3, Ind.E0, // E0,D1,D2,E3
Ind.E3, Ind.D2, Ind.D3, // E3,D2,D3
Ind.E3, Ind.D3, Ind.D4, // E3,D3,D4
Ind.E3, Ind.D4, Ind.D5, Ind.D5, Ind.E0, Ind.E3, // E3,D4,D5,E0
Ind.E0, Ind.D5, Ind.D0, // E0,D5,D0
};
}
}