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authorDiva Canto2012-10-04 15:33:17 -0700
committerDiva Canto2012-10-04 15:33:17 -0700
commit276fdbc1b3d1001ddb32b5f5f82db0fdf1e39f7d (patch)
tree5ffb03205018d07a7d0590e8c1d0766b1cc2fbaf /OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
parentOne more abstraction for GridUser so that it can be overridden in a sub-class. (diff)
parentMake the asset retrieval concurrency a config switch. The current value (diff)
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs133
1 files changed, 111 insertions, 22 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index a0e627e..f7b68ba 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -46,19 +46,13 @@ public sealed class BSPrim : BSPhysObject
46 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 46 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
47 private static readonly string LogHeader = "[BULLETS PRIM]"; 47 private static readonly string LogHeader = "[BULLETS PRIM]";
48 48
49 private IMesh _mesh;
50 private PrimitiveBaseShape _pbs; 49 private PrimitiveBaseShape _pbs;
51 private ShapeData.PhysicsShapeType _shapeType;
52 private ulong _meshKey;
53 private ulong _hullKey;
54 private List<ConvexResult> _hulls;
55 50
56 // _size is what the user passed. _scale is what we pass to the physics engine with the mesh. 51 // _size is what the user passed. _scale is what we pass to the physics engine with the mesh.
57 // Often _scale is unity because the meshmerizer will apply _size when creating the mesh. 52 // Often _scale is unity because the meshmerizer will apply _size when creating the mesh.
58 private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user 53 private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user
59 private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer 54 private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
60 55
61 private bool _stopped;
62 private bool _grabbed; 56 private bool _grabbed;
63 private bool _isSelected; 57 private bool _isSelected;
64 private bool _isVolumeDetect; 58 private bool _isVolumeDetect;
@@ -109,8 +103,6 @@ public sealed class BSPrim : BSPhysObject
109 _buoyancy = 1f; 103 _buoyancy = 1f;
110 _velocity = OMV.Vector3.Zero; 104 _velocity = OMV.Vector3.Zero;
111 _rotationalVelocity = OMV.Vector3.Zero; 105 _rotationalVelocity = OMV.Vector3.Zero;
112 _hullKey = 0;
113 _meshKey = 0;
114 _pbs = pbs; 106 _pbs = pbs;
115 _isPhysical = pisPhysical; 107 _isPhysical = pisPhysical;
116 _isVolumeDetect = false; 108 _isVolumeDetect = false;
@@ -160,8 +152,9 @@ public sealed class BSPrim : BSPhysObject
160 }); 152 });
161 } 153 }
162 154
155 // No one uses this property.
163 public override bool Stopped { 156 public override bool Stopped {
164 get { return _stopped; } 157 get { return false; }
165 } 158 }
166 public override OMV.Vector3 Size { 159 public override OMV.Vector3 Size {
167 get { return _size; } 160 get { return _size; }
@@ -274,6 +267,7 @@ public sealed class BSPrim : BSPhysObject
274 set { 267 set {
275 _position = value; 268 _position = value;
276 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? 269 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
270 PositionSanityCheck();
277 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() 271 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
278 { 272 {
279 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 273 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
@@ -281,6 +275,74 @@ public sealed class BSPrim : BSPhysObject
281 }); 275 });
282 } 276 }
283 } 277 }
278 public override OMV.Vector3 ForcePosition {
279 get {
280 _position = BulletSimAPI.GetPosition2(BSBody.ptr);
281 return _position;
282 }
283 set {
284 _position = value;
285 PositionSanityCheck();
286 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
287 }
288 }
289
290 // Check that the current position is sane and, if not, modify the position to make it so.
291 // Check for being below terrain and being out of bounds.
292 // Returns 'true' of the position was made sane by some action.
293 private bool PositionSanityCheck()
294 {
295 bool ret = false;
296
297 // If totally below the ground, move the prim up
298 // TODO: figure out the right solution for this... only for dynamic objects?
299 /*
300 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
301 if (Position.Z < terrainHeight)
302 {
303 DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
304 _position.Z = terrainHeight + 2.0f;
305 ret = true;
306 }
307 */
308 if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
309 {
310 float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
311 if (Position.Z < waterHeight)
312 {
313 _position.Z = waterHeight;
314 ret = true;
315 }
316 }
317
318 // TODO: check for out of bounds
319 return ret;
320 }
321
322 // A version of the sanity check that also makes sure a new position value is
323 // pushed back to the physics engine. This routine would be used by anyone
324 // who is not already pushing the value.
325 private bool PositionSanityCheck2(bool atTaintTime)
326 {
327 bool ret = false;
328 if (PositionSanityCheck())
329 {
330 // The new position value must be pushed into the physics engine but we can't
331 // just assign to "Position" because of potential call loops.
332 BSScene.TaintCallback sanityOperation = delegate()
333 {
334 DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
335 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
336 };
337 if (atTaintTime)
338 sanityOperation();
339 else
340 PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
341
342 ret = true;
343 }
344 return ret;
345 }
284 346
285 // Return the effective mass of the object. 347 // Return the effective mass of the object.
286 // If there are multiple items in the linkset, add them together for the root 348 // If there are multiple items in the linkset, add them together for the root
@@ -326,14 +388,15 @@ public sealed class BSPrim : BSPhysObject
326 } 388 }
327 set { 389 set {
328 Vehicle type = (Vehicle)value; 390 Vehicle type = (Vehicle)value;
329 BSPrim vehiclePrim = this; 391
392 // Tell the scene about the vehicle so it will get processing each frame.
393 PhysicsScene.VehicleInSceneTypeChanged(this, type);
394
330 PhysicsScene.TaintedObject("setVehicleType", delegate() 395 PhysicsScene.TaintedObject("setVehicleType", delegate()
331 { 396 {
332 // Done at taint time so we're sure the physics engine is not using the variables 397 // Done at taint time so we're sure the physics engine is not using the variables
333 // Vehicle code changes the parameters for this vehicle type. 398 // Vehicle code changes the parameters for this vehicle type.
334 _vehicle.ProcessTypeChange(type); 399 this._vehicle.ProcessTypeChange(type);
335 // Tell the scene about the vehicle so it will get processing each frame.
336 PhysicsScene.VehicleInSceneTypeChanged(this, type);
337 }); 400 });
338 } 401 }
339 } 402 }
@@ -371,7 +434,9 @@ public sealed class BSPrim : BSPhysObject
371 public override void StepVehicle(float timeStep) 434 public override void StepVehicle(float timeStep)
372 { 435 {
373 if (IsPhysical) 436 if (IsPhysical)
437 {
374 _vehicle.Step(timeStep); 438 _vehicle.Step(timeStep);
439 }
375 } 440 }
376 441
377 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more 442 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
@@ -435,6 +500,20 @@ public sealed class BSPrim : BSPhysObject
435 }); 500 });
436 } 501 }
437 } 502 }
503 // Go directly to Bullet to get/set the value.
504 public override OMV.Quaternion ForceOrientation
505 {
506 get
507 {
508 _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
509 return _orientation;
510 }
511 set
512 {
513 _orientation = value;
514 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
515 }
516 }
438 public override int PhysicsActorType { 517 public override int PhysicsActorType {
439 get { return _physicsActorType; } 518 get { return _physicsActorType; }
440 set { _physicsActorType = value; } 519 set { _physicsActorType = value; }
@@ -488,11 +567,10 @@ public sealed class BSPrim : BSPhysObject
488 // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). 567 // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
489 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); 568 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
490 569
491
492 // Set up the object physicalness (does gravity and collisions move this object) 570 // Set up the object physicalness (does gravity and collisions move this object)
493 MakeDynamic(IsStatic); 571 MakeDynamic(IsStatic);
494 572
495 // Do any vehicle stuff 573 // Update vehicle specific parameters
496 _vehicle.Refresh(); 574 _vehicle.Refresh();
497 575
498 // Arrange for collision events if the simulator wants them 576 // Arrange for collision events if the simulator wants them
@@ -563,7 +641,6 @@ public sealed class BSPrim : BSPhysObject
563 // A dynamic object has mass 641 // A dynamic object has mass
564 IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); 642 IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
565 OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); 643 OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
566 // OMV.Vector3 inertia = OMV.Vector3.Zero;
567 BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); 644 BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
568 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); 645 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
569 646
@@ -573,7 +650,7 @@ public sealed class BSPrim : BSPhysObject
573 BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); 650 BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
574 BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); 651 BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
575 652
576 // There can be special things needed for implementing linksets. 653 // There might be special things needed for implementing linksets.
577 Linkset.MakeDynamic(this); 654 Linkset.MakeDynamic(this);
578 655
579 // Force activation of the object so Bullet will act on it. 656 // Force activation of the object so Bullet will act on it.
@@ -663,7 +740,16 @@ public sealed class BSPrim : BSPhysObject
663 } 740 }
664 } 741 }
665 public override bool FloatOnWater { 742 public override bool FloatOnWater {
666 set { _floatOnWater = value; } 743 set {
744 _floatOnWater = value;
745 PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
746 {
747 if (_floatOnWater)
748 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
749 else
750 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
751 });
752 }
667 } 753 }
668 public override OMV.Vector3 RotationalVelocity { 754 public override OMV.Vector3 RotationalVelocity {
669 get { 755 get {
@@ -1082,15 +1168,15 @@ public sealed class BSPrim : BSPhysObject
1082 public void FillShapeInfo(out ShapeData shape) 1168 public void FillShapeInfo(out ShapeData shape)
1083 { 1169 {
1084 shape.ID = LocalID; 1170 shape.ID = LocalID;
1085 shape.Type = _shapeType; 1171 shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
1086 shape.Position = _position; 1172 shape.Position = _position;
1087 shape.Rotation = _orientation; 1173 shape.Rotation = _orientation;
1088 shape.Velocity = _velocity; 1174 shape.Velocity = _velocity;
1089 shape.Scale = _scale; 1175 shape.Scale = _scale;
1090 shape.Mass = _isPhysical ? _mass : 0f; 1176 shape.Mass = _isPhysical ? _mass : 0f;
1091 shape.Buoyancy = _buoyancy; 1177 shape.Buoyancy = _buoyancy;
1092 shape.HullKey = _hullKey; 1178 shape.HullKey = 0;
1093 shape.MeshKey = _meshKey; 1179 shape.MeshKey = 0;
1094 shape.Friction = _friction; 1180 shape.Friction = _friction;
1095 shape.Restitution = _restitution; 1181 shape.Restitution = _restitution;
1096 shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; 1182 shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
@@ -1112,7 +1198,8 @@ public sealed class BSPrim : BSPhysObject
1112 1198
1113 // Create the correct physical representation for this type of object. 1199 // Create the correct physical representation for this type of object.
1114 // Updates BSBody and BSShape with the new information. 1200 // Updates BSBody and BSShape with the new information.
1115 PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs, 1201 // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
1202 PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs,
1116 null, delegate(BulletBody dBody) 1203 null, delegate(BulletBody dBody)
1117 { 1204 {
1118 // Called if the current prim body is about to be destroyed. 1205 // Called if the current prim body is about to be destroyed.
@@ -1205,6 +1292,8 @@ public sealed class BSPrim : BSPhysObject
1205 _acceleration = entprop.Acceleration; 1292 _acceleration = entprop.Acceleration;
1206 _rotationalVelocity = entprop.RotationalVelocity; 1293 _rotationalVelocity = entprop.RotationalVelocity;
1207 1294
1295 PositionSanityCheck2(true);
1296
1208 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 1297 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
1209 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); 1298 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
1210 1299