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authorRobert Adams2013-05-03 14:23:53 -0700
committerRobert Adams2013-05-03 14:23:53 -0700
commit5d25bb3084937d266375cba61b3a2c802bd57717 (patch)
tree73d291b1ed6b2368d1f23ca4d8e5f91f55885b0e
parentBulletSim: prims with no cuts created with single convex hull shape. (diff)
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BulletSim: zero vehicle motion when changing vehicle type.
Rebuild compound linkset of any child in the linkset changes shape. Comments and better detailed logging messages.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs6
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs16
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs4
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs7
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapes.cs9
6 files changed, 18 insertions, 26 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index b9bd909..c5bee6d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -559,9 +559,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
559 break; 559 break;
560 } 560 }
561 561
562 // Update any physical parameters based on this type.
563 Refresh();
564
565 m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, 562 m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
566 m_linearMotorDecayTimescale, m_linearFrictionTimescale, 563 m_linearMotorDecayTimescale, m_linearFrictionTimescale,
567 1f); 564 1f);
@@ -589,6 +586,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
589 { 586 {
590 RegisterForSceneEvents(); 587 RegisterForSceneEvents();
591 } 588 }
589
590 // Update any physical parameters based on this type.
591 Refresh();
592 } 592 }
593 #endregion // Vehicle parameter setting 593 #endregion // Vehicle parameter setting
594 594
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 20eb871..1f16cc8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -246,7 +246,8 @@ public sealed class BSLinksetCompound : BSLinkset
246 } 246 }
247 247
248 // Routine called when rebuilding the body of some member of the linkset. 248 // Routine called when rebuilding the body of some member of the linkset.
249 // Since we don't keep in world relationships, do nothing unless it's a child changing. 249 // If one of the bodies is being changed, the linkset needs rebuilding.
250 // For instance, a linkset is built and then a mesh asset is read in and the mesh is recreated.
250 // Returns 'true' of something was actually removed and would need restoring 251 // Returns 'true' of something was actually removed and would need restoring
251 // Called at taint-time!! 252 // Called at taint-time!!
252 public override bool RemoveDependencies(BSPrimLinkable child) 253 public override bool RemoveDependencies(BSPrimLinkable child)
@@ -256,14 +257,7 @@ public sealed class BSLinksetCompound : BSLinkset
256 DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", 257 DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
257 child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child)); 258 child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
258 259
259 if (!IsRoot(child)) 260 ScheduleRebuild(child);
260 {
261 child.LinksetInfo = null;
262 }
263
264 // Cannot schedule a refresh/rebuild here because this routine is called when
265 // the linkset is being rebuilt.
266 // InternalRefresh(LinksetRoot);
267 261
268 return ret; 262 return ret;
269 } 263 }
@@ -322,7 +316,7 @@ public sealed class BSLinksetCompound : BSLinkset
322 // Constraint linksets are rebuilt every time. 316 // Constraint linksets are rebuilt every time.
323 // Note that this works for rebuilding just the root after a linkset is taken apart. 317 // Note that this works for rebuilding just the root after a linkset is taken apart.
324 // Called at taint time!! 318 // Called at taint time!!
325 private bool UseBulletSimRootOffsetHack = false; 319 private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape
326 private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting 320 private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting
327 private void RecomputeLinksetCompound() 321 private void RecomputeLinksetCompound()
328 { 322 {
@@ -382,7 +376,7 @@ public sealed class BSLinksetCompound : BSLinkset
382 OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; 376 OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
383 m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); 377 m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
384 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", 378 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",
385 LinksetRoot.LocalID, memberIndex, cPrim.PhysShape, offsetPos, offsetRot); 379 LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot);
386 380
387 // Since we are borrowing the shape of the child, disable the origional child body 381 // Since we are borrowing the shape of the child, disable the origional child body
388 if (!IsRoot(cPrim)) 382 if (!IsRoot(cPrim))
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 3d68d7f..d3f3475 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -511,7 +511,7 @@ public class BSPrim : BSPhysObject
511 511
512 PhysScene.TaintedObject("setVehicleType", delegate() 512 PhysScene.TaintedObject("setVehicleType", delegate()
513 { 513 {
514 // Vehicle code changes the parameters for this vehicle type. 514 ZeroMotion(true /* inTaintTime */);
515 VehicleActor.ProcessTypeChange(type); 515 VehicleActor.ProcessTypeChange(type);
516 ActivateIfPhysical(false); 516 ActivateIfPhysical(false);
517 }); 517 });
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 5236909..235da78 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -182,6 +182,10 @@ public class BSPrimLinkable : BSPrimDisplaced
182 { 182 {
183 return false; 183 return false;
184 } 184 }
185
186 // TODO: handle collisions of other objects with with children of linkset.
187 // This is a problem for LinksetCompound since the children are packed into the root.
188
185 return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); 189 return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
186 } 190 }
187} 191}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 794857c..64aaa15 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -254,10 +254,10 @@ public sealed class BSShapeCollection : IDisposable
254 } 254 }
255 else 255 else
256 { 256 {
257 // The current shape on the prim is the correct one. We don't need the potential reference.
257 potentialHull.Dereference(m_physicsScene); 258 potentialHull.Dereference(m_physicsScene);
258 } 259 }
259 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", 260 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1}", prim.LocalID, prim.PhysShape);
260 prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"));
261 } 261 }
262 else 262 else
263 { 263 {
@@ -277,8 +277,7 @@ public sealed class BSShapeCollection : IDisposable
277 // We don't need this reference to the mesh that is already being using. 277 // We don't need this reference to the mesh that is already being using.
278 potentialMesh.Dereference(m_physicsScene); 278 potentialMesh.Dereference(m_physicsScene);
279 } 279 }
280 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", 280 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1}", prim.LocalID, prim.PhysShape);
281 prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"));
282 } 281 }
283 return ret; 282 return ret;
284 } 283 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index 9ef2923..3e4ee5a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -352,9 +352,6 @@ public class BSShapeMesh : BSShape
352 float lod; 352 float lod;
353 System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); 353 System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
354 354
355 physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}",
356 prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod);
357
358 BSShapeMesh retMesh = null; 355 BSShapeMesh retMesh = null;
359 lock (Meshes) 356 lock (Meshes)
360 { 357 {
@@ -380,6 +377,7 @@ public class BSShapeMesh : BSShape
380 retMesh.physShapeInfo = newShape; 377 retMesh.physShapeInfo = newShape;
381 } 378 }
382 } 379 }
380 physicsScene.DetailLog("{0},BSShapeMesh,getReference,mesh={1},size={2},lod={3}", prim.LocalID, retMesh, prim.Size, lod);
383 return retMesh; 381 return retMesh;
384 } 382 }
385 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) 383 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
@@ -507,9 +505,6 @@ public class BSShapeHull : BSShape
507 float lod; 505 float lod;
508 System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); 506 System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
509 507
510 physicsScene.DetailLog("{0},BSShapeHull,getReference,newKey={1},size={2},lod={3}",
511 prim.LocalID, newHullKey.ToString("X"), prim.Size, lod);
512
513 BSShapeHull retHull = null; 508 BSShapeHull retHull = null;
514 lock (Hulls) 509 lock (Hulls)
515 { 510 {
@@ -531,10 +526,10 @@ public class BSShapeHull : BSShape
531 // If a mesh was what was created, remember the built shape for later sharing. 526 // If a mesh was what was created, remember the built shape for later sharing.
532 Hulls.Add(newHullKey, retHull); 527 Hulls.Add(newHullKey, retHull);
533 } 528 }
534
535 retHull.physShapeInfo = newShape; 529 retHull.physShapeInfo = newShape;
536 } 530 }
537 } 531 }
532 physicsScene.DetailLog("{0},BSShapeHull,getReference,hull={1},size={2},lod={3}", prim.LocalID, retHull, prim.Size, lod);
538 return retHull; 533 return retHull;
539 } 534 }
540 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) 535 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)