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authorRobert Adams2012-08-09 15:01:05 -0700
committerRobert Adams2012-08-09 15:01:05 -0700
commit38e79b80a87d213748d55d66e8b72021999d3945 (patch)
treef8da528b7cc0038e6df145c1ad70874c142a85e3 /OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
parentBulletSim: add avatar code to keep avatars from ending up trapped under the t... (diff)
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BulletSim: separate out the constraints by type. The linksets use
6dof constraint but eventually others will be exposed so future features can use all the Bullet capabilities. Force children to generate a position update when unlinked.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs38
1 files changed, 27 insertions, 11 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index d19c4b8..e265d6d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -101,7 +101,7 @@ public class BSLinkset
101 { 101 {
102 // Note that we don't do a foreach because the remove routine 102 // Note that we don't do a foreach because the remove routine
103 // takes it out of the list. 103 // takes it out of the list.
104 RemoveChildFromLinkset(m_children[0]); 104 RemoveChildFromOtherLinkset(m_children[0]);
105 } 105 }
106 m_children.Clear(); // just to make sure 106 m_children.Clear(); // just to make sure
107 } 107 }
@@ -124,6 +124,7 @@ public class BSLinkset
124 124
125 lock (m_linksetActivityLock) 125 lock (m_linksetActivityLock)
126 { 126 {
127 // The body pointer is refetched in case anything has moved.
127 System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID); 128 System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID);
128 if (aPtr == System.IntPtr.Zero) 129 if (aPtr == System.IntPtr.Zero)
129 { 130 {
@@ -155,7 +156,7 @@ public class BSLinkset
155 } 156 }
156 foreach (BSPrim bsp in toRemove) 157 foreach (BSPrim bsp in toRemove)
157 { 158 {
158 RemoveChildFromLinkset(bsp); 159 RemoveChildFromOtherLinkset(bsp);
159 } 160 }
160 } 161 }
161 } 162 }
@@ -208,7 +209,8 @@ public class BSLinkset
208 com += bp.Position * bp.MassRaw; 209 com += bp.Position * bp.MassRaw;
209 totalMass += bp.MassRaw; 210 totalMass += bp.MassRaw;
210 } 211 }
211 com /= totalMass; 212 if (totalMass != 0f)
213 com /= totalMass;
212 214
213 return com; 215 return com;
214 } 216 }
@@ -221,7 +223,7 @@ public class BSLinkset
221 { 223 {
222 com += bp.Position * bp.MassRaw; 224 com += bp.Position * bp.MassRaw;
223 } 225 }
224 com /= m_children.Count + 1; 226 com /= (m_children.Count + 1);
225 227
226 return com; 228 return com;
227 } 229 }
@@ -237,13 +239,24 @@ public class BSLinkset
237 m_scene.TaintedObject(delegate() 239 m_scene.TaintedObject(delegate()
238 { 240 {
239 DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); 241 DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID);
240 DetailLog("{0},AddChildToLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); 242 DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
241 PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child 243 PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child
242 }); 244 });
243 } 245 }
244 return; 246 return;
245 } 247 }
246 248
249 // Forcefully removing a child from a linkset.
250 // This is not being called by the child so we have to make sure the child doesn't think
251 // it's still connected to the linkset.
252 // Normal OpenSimulator operation will never do this because other SceneObjectPart information
253 // has to be updated also (like pointer to prim's parent).
254 public void RemoveChildFromOtherLinkset(BSPrim pchild)
255 {
256 pchild.Linkset = new BSLinkset(m_scene, pchild);
257 RemoveChildFromLinkset(pchild);
258 }
259
247 // I am the root of a linkset and one of my children is being removed. 260 // I am the root of a linkset and one of my children is being removed.
248 // Safe to call even if the child is not really in my linkset. 261 // Safe to call even if the child is not really in my linkset.
249 public void RemoveChildFromLinkset(BSPrim pchild) 262 public void RemoveChildFromLinkset(BSPrim pchild)
@@ -255,7 +268,7 @@ public class BSLinkset
255 m_scene.TaintedObject(delegate() 268 m_scene.TaintedObject(delegate()
256 { 269 {
257 DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); 270 DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
258 DetailLog("{0},RemoveChildFromLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); 271 DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
259 272
260 if (m_children.Count == 0) 273 if (m_children.Count == 0)
261 { 274 {
@@ -294,13 +307,14 @@ public class BSLinkset
294 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 307 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
295 // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); 308 // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID);
296 DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); 309 DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
297 BSConstraint constrain = m_scene.Constraints.CreateConstraint( 310 BS6DofConstraint constrain = new BS6DofConstraint(
298 m_scene.World, m_linksetRoot.Body, childPrim.Body, 311 m_scene.World, m_linksetRoot.Body, childPrim.Body,
299 childRelativePosition, 312 childRelativePosition,
300 childRelativeRotation, 313 childRelativeRotation,
301 OMV.Vector3.Zero, 314 OMV.Vector3.Zero,
302 -childRelativeRotation 315 -childRelativeRotation
303 ); 316 );
317 m_scene.Constraints.AddConstraint(constrain);
304 318
305 // zero linear and angular limits makes the objects unable to move in relation to each other 319 // zero linear and angular limits makes the objects unable to move in relation to each other
306 constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); 320 constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
@@ -319,11 +333,13 @@ public class BSLinkset
319 // Called at taint time! 333 // Called at taint time!
320 private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim) 334 private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim)
321 { 335 {
322 DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", 336 // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}",
323 LogHeader, m_linksetRoot.LocalID, childPrim.LocalID); 337 // LogHeader, m_linksetRoot.LocalID, childPrim.LocalID);
324 DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); 338 DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
325 // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); 339
326 m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body); 340 m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body);
341 // Make the child refresh its location
342 BulletSimAPI.PushUpdate2(childPrim.Body.Ptr);
327 } 343 }
328 344
329 // Remove linkage between myself and any possible children I might have 345 // Remove linkage between myself and any possible children I might have
@@ -332,8 +348,8 @@ public class BSLinkset
332 { 348 {
333 // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); 349 // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader);
334 DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID); 350 DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID);
351
335 m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body); 352 m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body);
336 // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID);
337 } 353 }
338 354
339 // Invoke the detailed logger and output something if it's enabled. 355 // Invoke the detailed logger and output something if it's enabled.