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author | Robert Adams | 2012-11-01 10:23:37 -0700 |
---|---|---|
committer | Robert Adams | 2012-11-03 21:15:14 -0700 |
commit | 39c02dcc8c537d5989238ec97c876e033895a8a9 (patch) | |
tree | b23392da13d4ff36ba3258d0239ea928584a6a99 /OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | |
parent | BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add skeleton ... (diff) | |
download | opensim-SC-39c02dcc8c537d5989238ec97c876e033895a8a9.zip opensim-SC-39c02dcc8c537d5989238ec97c876e033895a8a9.tar.gz opensim-SC-39c02dcc8c537d5989238ec97c876e033895a8a9.tar.bz2 opensim-SC-39c02dcc8c537d5989238ec97c876e033895a8a9.tar.xz |
BulletSim: Remove use of shapeData in ShapeCollection and rely on the available BSPhysObject varaiables. Fix line endings in BSLinksetCompound.
Diffstat (limited to '')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 347 |
1 files changed, 175 insertions, 172 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 1c569b5..638fae1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | |||
@@ -1,173 +1,176 @@ | |||
1 | /* | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ | 2 | * Copyright (c) Contributors, http://opensimulator.org/ |
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
4 | * | 4 | * |
5 | * Redistribution and use in source and binary forms, with or without | 5 | * Redistribution and use in source and binary forms, with or without |
6 | * modification, are permitted provided that the following conditions are met: | 6 | * modification, are permitted provided that the following conditions are met: |
7 | * * Redistributions of source code must retain the above copyright | 7 | * * Redistributions of source code must retain the above copyright |
8 | * notice, this list of conditions and the following disclaimer. | 8 | * notice, this list of conditions and the following disclaimer. |
9 | * * Redistributions in binary form must reproduce the above copyrightD | 9 | * * Redistributions in binary form must reproduce the above copyrightD |
10 | * notice, this list of conditions and the following disclaimer in the | 10 | * notice, this list of conditions and the following disclaimer in the |
11 | * documentation and/or other materials provided with the distribution. | 11 | * documentation and/or other materials provided with the distribution. |
12 | * * Neither the name of the OpenSimulator Project nor the | 12 | * * Neither the name of the OpenSimulator Project nor the |
13 | * names of its contributors may be used to endorse or promote products | 13 | * names of its contributors may be used to endorse or promote products |
14 | * derived from this software without specific prior written permission. | 14 | * derived from this software without specific prior written permission. |
15 | * | 15 | * |
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | */ | 26 | */ |
27 | using System; | 27 | using System; |
28 | using System.Collections.Generic; | 28 | using System.Collections.Generic; |
29 | using System.Text; | 29 | using System.Text; |
30 | 30 | ||
31 | using OMV = OpenMetaverse; | 31 | using OMV = OpenMetaverse; |
32 | 32 | ||
33 | namespace OpenSim.Region.Physics.BulletSPlugin | 33 | namespace OpenSim.Region.Physics.BulletSPlugin |
34 | { | 34 | { |
35 | public sealed class BSLinksetCompound : BSLinkset | 35 | public sealed class BSLinksetCompound : BSLinkset |
36 | { | 36 | { |
37 | // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; | 37 | // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; |
38 | 38 | ||
39 | public BSLinksetCompound(BSScene scene, BSPhysObject parent) | 39 | public BSLinksetCompound(BSScene scene, BSPhysObject parent) |
40 | { | 40 | { |
41 | base.Initialize(scene, parent); | 41 | base.Initialize(scene, parent); |
42 | } | 42 | } |
43 | 43 | ||
44 | // When physical properties are changed the linkset needs to recalculate | 44 | // When physical properties are changed the linkset needs to recalculate |
45 | // its internal properties. | 45 | // its internal properties. |
46 | // This is queued in the 'post taint' queue so the | 46 | // This is queued in the 'post taint' queue so the |
47 | // refresh will happen once after all the other taints are applied. | 47 | // refresh will happen once after all the other taints are applied. |
48 | public override void Refresh(BSPhysObject requestor) | 48 | public override void Refresh(BSPhysObject requestor) |
49 | { | 49 | { |
50 | // Queue to happen after all the other taint processing | 50 | // Queue to happen after all the other taint processing |
51 | PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate() | 51 | PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate() |
52 | { | 52 | { |
53 | if (HasAnyChildren && IsRoot(requestor)) | 53 | if (HasAnyChildren && IsRoot(requestor)) |
54 | RecomputeLinksetCompound(); | 54 | RecomputeLinksetCompound(); |
55 | }); | 55 | }); |
56 | } | 56 | } |
57 | 57 | ||
58 | // The object is going dynamic (physical). Do any setup necessary | 58 | // The object is going dynamic (physical). Do any setup necessary |
59 | // for a dynamic linkset. | 59 | // for a dynamic linkset. |
60 | // Only the state of the passed object can be modified. The rest of the linkset | 60 | // Only the state of the passed object can be modified. The rest of the linkset |
61 | // has not yet been fully constructed. | 61 | // has not yet been fully constructed. |
62 | // Return 'true' if any properties updated on the passed object. | 62 | // Return 'true' if any properties updated on the passed object. |
63 | // Called at taint-time! | 63 | // Called at taint-time! |
64 | public override bool MakeDynamic(BSPhysObject child) | 64 | public override bool MakeDynamic(BSPhysObject child) |
65 | { | 65 | { |
66 | // What is done for each object in BSPrim is what we want. | 66 | // What is done for each object in BSPrim is what we want. |
67 | return false; | 67 | return false; |
68 | } | 68 | } |
69 | 69 | ||
70 | // The object is going static (non-physical). Do any setup necessary for a static linkset. | 70 | // The object is going static (non-physical). Do any setup necessary for a static linkset. |
71 | // Return 'true' if any properties updated on the passed object. | 71 | // Return 'true' if any properties updated on the passed object. |
72 | // This doesn't normally happen -- OpenSim removes the objects from the physical | 72 | // This doesn't normally happen -- OpenSim removes the objects from the physical |
73 | // world if it is a static linkset. | 73 | // world if it is a static linkset. |
74 | // Called at taint-time! | 74 | // Called at taint-time! |
75 | public override bool MakeStatic(BSPhysObject child) | 75 | public override bool MakeStatic(BSPhysObject child) |
76 | { | 76 | { |
77 | // What is done for each object in BSPrim is what we want. | 77 | // What is done for each object in BSPrim is what we want. |
78 | return false; | 78 | return false; |
79 | } | 79 | } |
80 | 80 | ||
81 | // Called at taint-time!! | 81 | // Called at taint-time!! |
82 | public override void UpdateProperties(BSPhysObject updated) | 82 | public override void UpdateProperties(BSPhysObject updated) |
83 | { | 83 | { |
84 | // Nothing to do for constraints on property updates | 84 | // Nothing to do for constraints on property updates |
85 | } | 85 | } |
86 | 86 | ||
87 | // Routine called when rebuilding the body of some member of the linkset. | 87 | // Routine called when rebuilding the body of some member of the linkset. |
88 | // Destroy all the constraints have have been made to root and set | 88 | // Destroy all the constraints have have been made to root and set |
89 | // up to rebuild the constraints before the next simulation step. | 89 | // up to rebuild the constraints before the next simulation step. |
90 | // Returns 'true' of something was actually removed and would need restoring | 90 | // Returns 'true' of something was actually removed and would need restoring |
91 | // Called at taint-time!! | 91 | // Called at taint-time!! |
92 | public override bool RemoveBodyDependencies(BSPrim child) | 92 | public override bool RemoveBodyDependencies(BSPrim child) |
93 | { | 93 | { |
94 | bool ret = false; | 94 | bool ret = false; |
95 | 95 | ||
96 | DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", | 96 | DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", |
97 | child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X")); | 97 | child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X")); |
98 | 98 | ||
99 | // Cause the current shape to be freed and the new one to be built. | 99 | // Cause the current shape to be freed and the new one to be built. |
100 | Refresh(LinksetRoot); | 100 | Refresh(LinksetRoot); |
101 | 101 | ||
102 | return ret; | 102 | return ret; |
103 | } | 103 | } |
104 | 104 | ||
105 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', | 105 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', |
106 | // this routine will restore the removed constraints. | 106 | // this routine will restore the removed constraints. |
107 | // Called at taint-time!! | 107 | // Called at taint-time!! |
108 | public override void RestoreBodyDependencies(BSPrim child) | 108 | public override void RestoreBodyDependencies(BSPrim child) |
109 | { | 109 | { |
110 | // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. | 110 | // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. |
111 | } | 111 | } |
112 | 112 | ||
113 | // ================================================================ | 113 | // ================================================================ |
114 | 114 | ||
115 | // Add a new child to the linkset. | 115 | // Add a new child to the linkset. |
116 | // Called while LinkActivity is locked. | 116 | // Called while LinkActivity is locked. |
117 | protected override void AddChildToLinkset(BSPhysObject child) | 117 | protected override void AddChildToLinkset(BSPhysObject child) |
118 | { | 118 | { |
119 | if (!HasChild(child)) | 119 | if (!HasChild(child)) |
120 | { | 120 | { |
121 | m_children.Add(child); | 121 | m_children.Add(child); |
122 | 122 | ||
123 | DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); | 123 | DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); |
124 | 124 | ||
125 | // Cause constraints and assorted properties to be recomputed before the next simulation step. | 125 | // Cause constraints and assorted properties to be recomputed before the next simulation step. |
126 | Refresh(LinksetRoot); | 126 | Refresh(LinksetRoot); |
127 | } | 127 | } |
128 | return; | 128 | return; |
129 | } | 129 | } |
130 | 130 | ||
131 | // Remove the specified child from the linkset. | 131 | // Remove the specified child from the linkset. |
132 | // Safe to call even if the child is not really in my linkset. | 132 | // Safe to call even if the child is not really in my linkset. |
133 | protected override void RemoveChildFromLinkset(BSPhysObject child) | 133 | protected override void RemoveChildFromLinkset(BSPhysObject child) |
134 | { | 134 | { |
135 | if (m_children.Remove(child)) | 135 | if (m_children.Remove(child)) |
136 | { | 136 | { |
137 | DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", | 137 | DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", |
138 | child.LocalID, | 138 | child.LocalID, |
139 | LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), | 139 | LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), |
140 | child.LocalID, child.PhysBody.ptr.ToString("X")); | 140 | child.LocalID, child.PhysBody.ptr.ToString("X")); |
141 | 141 | ||
142 | // See that the linkset parameters are recomputed at the end of the taint time. | 142 | // See that the linkset parameters are recomputed at the end of the taint time. |
143 | Refresh(LinksetRoot); | 143 | Refresh(LinksetRoot); |
144 | } | 144 | } |
145 | else | 145 | else |
146 | { | 146 | { |
147 | // Non-fatal occurance. | 147 | // Non-fatal occurance. |
148 | // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); | 148 | // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); |
149 | } | 149 | } |
150 | return; | 150 | return; |
151 | } | 151 | } |
152 | 152 | ||
153 | 153 | ||
154 | // Call each of the constraints that make up this linkset and recompute the | 154 | // Call each of the constraints that make up this linkset and recompute the |
155 | // various transforms and variables. Create constraints of not created yet. | 155 | // various transforms and variables. Create constraints of not created yet. |
156 | // Called before the simulation step to make sure the constraint based linkset | 156 | // Called before the simulation step to make sure the constraint based linkset |
157 | // is all initialized. | 157 | // is all initialized. |
158 | // Called at taint time!! | 158 | // Called at taint time!! |
159 | private void RecomputeLinksetCompound() | 159 | private void RecomputeLinksetCompound() |
160 | { | 160 | { |
161 | float linksetMass = LinksetMass; | 161 | // Release the existing shape |
162 | LinksetRoot.UpdatePhysicalMassProperties(linksetMass); | 162 | PhysicsScene.Shapes.DereferenceShape(LinksetRoot.PhysShape, true, null); |
163 | 163 | ||
164 | // DEBUG: see of inter-linkset collisions are causing problems | 164 | float linksetMass = LinksetMass; |
165 | // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, | 165 | LinksetRoot.UpdatePhysicalMassProperties(linksetMass); |
166 | // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); | 166 | |
167 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}", | 167 | // DEBUG: see of inter-linkset collisions are causing problems |
168 | LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); | 168 | // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, |
169 | 169 | // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); | |
170 | 170 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}", | |
171 | } | 171 | LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); |
172 | } | 172 | |
173 | |||
174 | } | ||
175 | } | ||
173 | } \ No newline at end of file | 176 | } \ No newline at end of file |