BulletSim: refactor all the linkset logic out of the prim class

and into its own class. The BulletSim data structures track
individual prims as linksets of 1 so most of the prim code is not
different between a linked and unlinked object.

1 files changed, 308 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
new file mode 100755
index 0000000..a1027ee
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -0,0 +1,308 @@
+/*
+ * 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
+{
+public class BSLinkset
+{
+    private static string LogHeader = "[BULLETSIM LINKSET]";
+
+    private BSPrim m_linksetRoot;
+    public BSPrim Root { get { return m_linksetRoot; } }
+
+    private BSScene m_scene;
+
+    private List<BSPrim> m_children;
+
+    // We lock the diddling of linkset classes to prevent any badness.
+    // This locks the modification of the instances of this class. Changes
+    //    to the physical representation is done via the tainting mechenism.
+    private object m_linksetActivityLock = new Object();
+
+    // We keep the prim's mass in the linkset structure since it could be dependent on other prims
+    private float m_mass;
+    public float Mass 
+    { 
+        get 
+        {
+            m_mass = ComputeLinksetMass();
+            return m_mass;
+        }
+    }
+
+    public OMV.Vector3 CenterOfMass
+    {
+        get { return ComputeLinksetCenterOfMass(); }
+    }
+
+    public OMV.Vector3 GeometricCenter
+    {
+        get { return ComputeLinksetGeometricCenter(); }
+    }
+
+    public BSLinkset(BSScene scene, BSPrim parent)
+    {
+        // A simple linkset of one (no children)
+        m_scene = scene;
+        m_linksetRoot = parent;
+        m_children = new List<BSPrim>();
+        m_mass = parent.MassRaw;
+    }
+
+    // Link to a linkset where the child knows the parent.
+    // Parent changing should not happen so do some sanity checking.
+    // We return the parent's linkset so the child can track it's membership.
+    public BSLinkset AddMeToLinkset(BSPrim child, BSPrim parent)
+    {
+        lock (m_linksetActivityLock)
+        {
+            parent.Linkset.AddChildToLinkset(child);
+        }
+        return parent.Linkset;
+    }
+
+    public BSLinkset RemoveMeFromLinkset(BSPrim child)
+    {
+        lock (m_linksetActivityLock)
+        {
+            if (IsRoot(child))
+            {
+                // if root of linkset, take the linkset apart
+                while (m_children.Count > 0)
+                {
+                    // Note that we don't do a foreach because the remove routine
+                    //    takes it out of the list.
+                    RemoveChildFromLinkset(m_children[0]);
+                }
+                m_children.Clear(); // just to make sure
+            }
+            else
+            {
+                // Just removing a child from an existing linkset
+                RemoveChildFromLinkset(child);
+            }
+        }
+
+        // The child is down to a linkset of just itself
+        return new BSLinkset(m_scene, child);
+    }
+
+    // An existing linkset had one of its members rebuilt or something.
+    // Undo all the physical linking and rebuild the physical linkset.
+    public bool RefreshLinkset(BSPrim requestor)
+    {
+        return true;
+    }
+
+
+    // Return 'true' if the passed object is the root object of this linkset
+    public bool IsRoot(BSPrim requestor)
+    {
+        return (requestor.LocalID == m_linksetRoot.LocalID);
+    }
+
+    // Return 'true' if this linkset has any children (more than the root member)
+    public bool HasAnyChildren { get { return (m_children.Count > 0); } }
+
+    // Return 'true' if this child is in this linkset
+    public bool HasChild(BSPrim child)
+    {
+        bool ret = false;
+        foreach (BSPrim bp in m_children)
+        {
+            if (child.LocalID == bp.LocalID)
+            {
+                ret = true;
+                break;
+            }
+        }
+        return ret;
+    }
+
+    private float ComputeLinksetMass()
+    {
+        float mass = m_linksetRoot.Mass;
+        foreach (BSPrim bp in m_children)
+        {
+            mass += bp.Mass;
+        }
+        return mass;
+    }
+
+    private OMV.Vector3 ComputeLinksetCenterOfMass()
+    {
+        OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw;
+        float totalMass = m_linksetRoot.MassRaw;
+
+        foreach (BSPrim bp in m_children)
+        {
+            com += bp.Position * bp.MassRaw;
+            totalMass += bp.MassRaw;
+        }
+        com /= totalMass;
+
+        return com;
+    }
+
+    private OMV.Vector3 ComputeLinksetGeometricCenter()
+    {
+        OMV.Vector3 com = m_linksetRoot.Position;
+
+        foreach (BSPrim bp in m_children)
+        {
+            com += bp.Position * bp.MassRaw;
+        }
+        com /= m_children.Count + 1;
+
+        return com;
+    }
+
+    // I am the root of a linkset and a new child is being added
+    public void AddChildToLinkset(BSPrim pchild)
+    {
+        BSPrim child = pchild;
+        if (!HasChild(child))
+        {
+            m_children.Add(child);
+
+            m_scene.TaintedObject(delegate()
+            {
+                DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID);
+                DetailLog("{0},AddChildToLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
+                PhysicallyLinkAChildToRoot(pchild);     // build the physical binding between me and the child
+            });
+        }
+        return;
+    }
+
+    // I am the root of a linkset and one of my children is being removed.
+    // Safe to call even if the child is not really in my linkset.
+    public void RemoveChildFromLinkset(BSPrim pchild)
+    {
+        BSPrim child = pchild;
+
+        if (m_children.Remove(child))
+        {
+            m_scene.TaintedObject(delegate()
+            {
+                DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
+                DetailLog("{0},RemoveChildFromLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
+
+                if (m_children.Count == 0)
+                {
+                    // if the linkset is empty, make sure all linkages have been removed
+                    PhysicallyUnlinkAllChildrenFromRoot();
+                }
+                else
+                {
+                    PhysicallyUnlinkAChildFromRoot(pchild);
+                }
+            });
+        }
+        else
+        {
+            // This will happen if we remove the root of the linkset first. Non-fatal occurance.
+            // m_scene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
+        }
+        return;
+    }
+
+    // Create a constraint between me (root of linkset) and the passed prim (the child).
+    // Called at taint time!
+    private void PhysicallyLinkAChildToRoot(BSPrim childPrim)
+    {
+        // Zero motion for children so they don't interpolate
+        childPrim.ZeroMotion();
+
+        // relative position normalized to the root prim
+        OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(m_linksetRoot.Orientation);
+        OMV.Vector3 childRelativePosition = (childPrim.Position - m_linksetRoot.Position) * invThisOrientation;
+
+        // relative rotation of the child to the parent
+        OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
+
+        // create a constraint that allows no freedom of movement between the two objects
+        // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
+        // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID);
+        DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
+        BSConstraint constrain = m_scene.Constraints.CreateConstraint(
+                        m_scene.World, m_linksetRoot.Body, childPrim.Body,
+                        childRelativePosition,
+                        childRelativeRotation,
+                        OMV.Vector3.Zero,
+                        OMV.Quaternion.Identity);
+        constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
+        constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
+
+        // tweek the constraint to increase stability
+        constrain.UseFrameOffset(m_scene.BoolNumeric(m_scene.Params.linkConstraintUseFrameOffset));
+        constrain.TranslationalLimitMotor(m_scene.BoolNumeric(m_scene.Params.linkConstraintEnableTransMotor),
+                        m_scene.Params.linkConstraintTransMotorMaxVel,
+                        m_scene.Params.linkConstraintTransMotorMaxForce);
+
+    }
+
+    // Remove linkage between myself and a particular child
+    // Called at taint time!
+    private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim)
+    {
+        DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", 
+                    LogHeader, m_linksetRoot.LocalID, childPrim.LocalID);
+        DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
+        // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID);
+        m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body);
+    }
+
+    // Remove linkage between myself and any possible children I might have
+    // Called at taint time!
+    private void PhysicallyUnlinkAllChildrenFromRoot()
+    {
+        // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader);
+        DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID);
+        m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body);
+        // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID);
+    }
+
+    // Invoke the detailed logger and output something if it's enabled.
+    private void DebugLog(string msg, params Object[] args)
+    {
+        m_scene.Logger.DebugFormat(msg, args);
+    }
+
+    // Invoke the detailed logger and output something if it's enabled.
+    private void DetailLog(string msg, params Object[] args)
+    {
+        m_scene.PhysicsLogging.Write(msg, args);
+    }
+
+}
+}