opensim – Rev 1
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyrightD
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Text;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
// Classes to allow some type checking for the API
// These hold pointers to allocated objects in the unmanaged space.
// These classes are subclassed by the various physical implementations of
// objects. In particular, there is a version for physical instances in
// unmanaged memory ("unman") and one for in managed memory ("XNA").
// Currently, the instances of these classes are a reference to a
// physical representation and this has no releationship to other
// instances. Someday, refarb the usage of these classes so each instance
// refers to a particular physical instance and this class controls reference
// counts and such. This should be done along with adding BSShapes.
public class BulletWorld
{
public BulletWorld(uint worldId, BSScene bss)
{
worldID = worldId;
physicsScene = bss;
}
public uint worldID;
// The scene is only in here so very low level routines have a handle to print debug/error messages
public BSScene physicsScene;
}
// An allocated Bullet btRigidBody
public class BulletBody
{
public BulletBody(uint id)
{
ID = id;
collisionType = CollisionType.Static;
}
public uint ID;
public CollisionType collisionType;
public virtual void Clear() { }
public virtual bool HasPhysicalBody { get { return false; } }
// Apply the specificed collision mask into the physical world
public virtual bool ApplyCollisionMask(BSScene physicsScene)
{
// Should assert the body has been added to the physical world.
// (The collision masks are stored in the collision proxy cache which only exists for
// a collision body that is in the world.)
return physicsScene.PE.SetCollisionGroupMask(this,
BulletSimData.CollisionTypeMasks[collisionType].group,
BulletSimData.CollisionTypeMasks[collisionType].mask);
}
// Used for log messages for a unique display of the memory/object allocated to this instance
public virtual string AddrString
{
get { return "unknown"; }
}
public override string ToString()
{
StringBuilder buff = new StringBuilder();
buff.Append("<id=");
buff.Append(ID.ToString());
buff.Append(",p=");
buff.Append(AddrString);
buff.Append(",c=");
buff.Append(collisionType);
buff.Append(">");
return buff.ToString();
}
}
public class BulletShape
{
public BulletShape()
{
shapeType = BSPhysicsShapeType.SHAPE_UNKNOWN;
shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
isNativeShape = false;
}
public BSPhysicsShapeType shapeType;
public System.UInt64 shapeKey;
public bool isNativeShape;
public virtual void Clear() { }
public virtual bool HasPhysicalShape { get { return false; } }
// Make another reference to this physical object.
public virtual BulletShape Clone() { return new BulletShape(); }
// Return 'true' if this and other refer to the same physical object
public virtual bool ReferenceSame(BulletShape xx) { return false; }
// Used for log messages for a unique display of the memory/object allocated to this instance
public virtual string AddrString
{
get { return "unknown"; }
}
public override string ToString()
{
StringBuilder buff = new StringBuilder();
buff.Append("<p=");
buff.Append(AddrString);
buff.Append(",s=");
buff.Append(shapeType.ToString());
buff.Append(",k=");
buff.Append(shapeKey.ToString("X"));
buff.Append(",n=");
buff.Append(isNativeShape.ToString());
buff.Append(">");
return buff.ToString();
}
}
// An allocated Bullet btConstraint
public class BulletConstraint
{
public BulletConstraint()
{
}
public virtual void Clear() { }
public virtual bool HasPhysicalConstraint { get { return false; } }
// Used for log messages for a unique display of the memory/object allocated to this instance
public virtual string AddrString
{
get { return "unknown"; }
}
}
// An allocated HeightMapThing which holds various heightmap info.
// Made a class rather than a struct so there would be only one
// instance of this and C# will pass around pointers rather
// than making copies.
public class BulletHMapInfo
{
public BulletHMapInfo(uint id, float[] hm, float pSizeX, float pSizeY) {
ID = id;
heightMap = hm;
terrainRegionBase = OMV.Vector3.Zero;
minCoords = new OMV.Vector3(100f, 100f, 25f);
maxCoords = new OMV.Vector3(101f, 101f, 26f);
minZ = maxZ = 0f;
sizeX = pSizeX;
sizeY = pSizeY;
}
public uint ID;
public float[] heightMap;
public OMV.Vector3 terrainRegionBase;
public OMV.Vector3 minCoords;
public OMV.Vector3 maxCoords;
public float sizeX, sizeY;
public float minZ, maxZ;
public BulletShape terrainShape;
public BulletBody terrainBody;
}
// The general class of collsion object.
public enum CollisionType
{
Avatar,
Groundplane,
Terrain,
Static,
Dynamic,
VolumeDetect,
// Linkset, // A linkset should be either Static or Dynamic
LinksetChild,
Unknown
};
// Hold specification of group and mask collision flags for a CollisionType
public struct CollisionTypeFilterGroup
{
public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
{
type = t;
group = g;
mask = m;
}
public CollisionType type;
public uint group;
public uint mask;
};
public static class BulletSimData
{
// Map of collisionTypes to flags for collision groups and masks.
// An object's 'group' is the collison groups this object belongs to
// An object's 'filter' is the groups another object has to belong to in order to collide with me
// A collision happens if ((obj1.group & obj2.filter) != 0) || ((obj2.group & obj1.filter) != 0)
//
// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
// but, instead, use references to this dictionary. Finding and debugging
// collision flag problems will be made easier.
public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
= new Dictionary<CollisionType, CollisionTypeFilterGroup>()
{
{ CollisionType.Avatar,
new CollisionTypeFilterGroup(CollisionType.Avatar,
(uint)CollisionFilterGroups.BCharacterGroup,
(uint)CollisionFilterGroups.BAllGroup)
},
{ CollisionType.Groundplane,
new CollisionTypeFilterGroup(CollisionType.Groundplane,
(uint)CollisionFilterGroups.BGroundPlaneGroup,
// (uint)CollisionFilterGroups.BAllGroup)
(uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
},
{ CollisionType.Terrain,
new CollisionTypeFilterGroup(CollisionType.Terrain,
(uint)CollisionFilterGroups.BTerrainGroup,
(uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
},
{ CollisionType.Static,
new CollisionTypeFilterGroup(CollisionType.Static,
(uint)CollisionFilterGroups.BStaticGroup,
(uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
},
{ CollisionType.Dynamic,
new CollisionTypeFilterGroup(CollisionType.Dynamic,
(uint)CollisionFilterGroups.BSolidGroup,
(uint)(CollisionFilterGroups.BAllGroup))
},
{ CollisionType.VolumeDetect,
new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
(uint)CollisionFilterGroups.BSensorTrigger,
(uint)(~CollisionFilterGroups.BSensorTrigger))
},
{ CollisionType.LinksetChild,
new CollisionTypeFilterGroup(CollisionType.LinksetChild,
(uint)CollisionFilterGroups.BLinksetChildGroup,
(uint)(CollisionFilterGroups.BNoneGroup))
// (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
},
};
}
}