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authorJustin Clark-Casey (justincc)2013-01-24 00:03:44 +0000
committerJustin Clark-Casey (justincc)2013-01-24 00:03:44 +0000
commit55c6753b13d4c8cd69cc986db5f6e321b8e65bb7 (patch)
tree70ae7a976ba9be4e7e8d1cb98d3a6e61e4dfb7d4 /OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
parentAdd information on ScriptStopStrategy to [XEngine] in OpenSimDefaults.ini and... (diff)
parentMerge branch 'master' of ssh://opensimulator.org/var/git/opensim (diff)
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Merge branch 'master' into cooptermination
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs146
1 files changed, 72 insertions, 74 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 79fe632..f80084a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -132,8 +132,8 @@ public sealed class BSPrim : BSPhysObject
132 base.Destroy(); 132 base.Destroy();
133 133
134 // Undo any links between me and any other object 134 // Undo any links between me and any other object
135 BSPhysObject parentBefore = Linkset.LinksetRoot; 135 BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG DEBUG
136 int childrenBefore = Linkset.NumberOfChildren; 136 int childrenBefore = Linkset.NumberOfChildren; // DEBUG DEBUG
137 137
138 Linkset = Linkset.RemoveMeFromLinkset(this); 138 Linkset = Linkset.RemoveMeFromLinkset(this);
139 139
@@ -311,16 +311,18 @@ public sealed class BSPrim : BSPhysObject
311 _position = value; 311 _position = value;
312 PositionSanityCheck(false); 312 PositionSanityCheck(false);
313 313
314 // A linkset might need to know if a component information changed.
315 Linkset.UpdateProperties(this, false);
316
317 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() 314 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
318 { 315 {
319 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 316 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
320 ForcePosition = _position; 317 ForcePosition = _position;
318
319 // A linkset might need to know if a component information changed.
320 Linkset.UpdateProperties(UpdatedProperties.Position, this);
321
321 }); 322 });
322 } 323 }
323 } 324 }
325
324 public override OMV.Vector3 ForcePosition { 326 public override OMV.Vector3 ForcePosition {
325 get { 327 get {
326 _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement; 328 _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
@@ -335,25 +337,6 @@ public sealed class BSPrim : BSPhysObject
335 } 337 }
336 } 338 }
337 } 339 }
338 // Override to have position displacement immediately update the physical position.
339 // A feeble attempt to keep the sim and physical positions in sync
340 // Must be called at taint time.
341 public override OMV.Vector3 PositionDisplacement
342 {
343 get
344 {
345 return base.PositionDisplacement;
346 }
347 set
348 {
349 base.PositionDisplacement = value;
350 PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate()
351 {
352 if (PhysBody.HasPhysicalBody)
353 PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation);
354 });
355 }
356 }
357 340
358 // Check that the current position is sane and, if not, modify the position to make it so. 341 // Check that the current position is sane and, if not, modify the position to make it so.
359 // Check for being below terrain and being out of bounds. 342 // Check for being below terrain and being out of bounds.
@@ -370,11 +353,11 @@ public sealed class BSPrim : BSPhysObject
370 return ret; 353 return ret;
371 } 354 }
372 355
373 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); 356 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
374 OMV.Vector3 upForce = OMV.Vector3.Zero; 357 OMV.Vector3 upForce = OMV.Vector3.Zero;
375 if (RawPosition.Z < terrainHeight) 358 if (RawPosition.Z < terrainHeight)
376 { 359 {
377 DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); 360 DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
378 float targetHeight = terrainHeight + (Size.Z / 2f); 361 float targetHeight = terrainHeight + (Size.Z / 2f);
379 // If the object is below ground it just has to be moved up because pushing will 362 // If the object is below ground it just has to be moved up because pushing will
380 // not get it through the terrain 363 // not get it through the terrain
@@ -502,6 +485,12 @@ public sealed class BSPrim : BSPhysObject
502 RegisterPreStepAction("BSPrim.setForce", LocalID, 485 RegisterPreStepAction("BSPrim.setForce", LocalID,
503 delegate(float timeStep) 486 delegate(float timeStep)
504 { 487 {
488 if (!IsPhysicallyActive)
489 {
490 UnRegisterPreStepAction("BSPrim.setForce", LocalID);
491 return;
492 }
493
505 DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); 494 DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
506 if (PhysBody.HasPhysicalBody) 495 if (PhysBody.HasPhysicalBody)
507 { 496 {
@@ -627,6 +616,12 @@ public sealed class BSPrim : BSPhysObject
627 RegisterPreStepAction("BSPrim.setTorque", LocalID, 616 RegisterPreStepAction("BSPrim.setTorque", LocalID,
628 delegate(float timeStep) 617 delegate(float timeStep)
629 { 618 {
619 if (!IsPhysicallyActive)
620 {
621 UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
622 return;
623 }
624
630 if (PhysBody.HasPhysicalBody) 625 if (PhysBody.HasPhysicalBody)
631 AddAngularForce(_torque, false, true); 626 AddAngularForce(_torque, false, true);
632 } 627 }
@@ -670,12 +665,13 @@ public sealed class BSPrim : BSPhysObject
670 return; 665 return;
671 _orientation = value; 666 _orientation = value;
672 667
673 // A linkset might need to know if a component information changed.
674 Linkset.UpdateProperties(this, false);
675
676 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() 668 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
677 { 669 {
678 ForceOrientation = _orientation; 670 ForceOrientation = _orientation;
671
672 // A linkset might need to know if a component information changed.
673 Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
674
679 }); 675 });
680 } 676 }
681 } 677 }
@@ -727,6 +723,12 @@ public sealed class BSPrim : BSPhysObject
727 get { return !IsPhantom && !_isVolumeDetect; } 723 get { return !IsPhantom && !_isVolumeDetect; }
728 } 724 }
729 725
726 // The object is moving and is actively being dynamic in the physical world
727 public override bool IsPhysicallyActive
728 {
729 get { return !_isSelected && IsPhysical; }
730 }
731
730 // Make gravity work if the object is physical and not selected 732 // Make gravity work if the object is physical and not selected
731 // Called at taint-time!! 733 // Called at taint-time!!
732 private void SetObjectDynamic(bool forceRebuild) 734 private void SetObjectDynamic(bool forceRebuild)
@@ -971,10 +973,10 @@ public sealed class BSPrim : BSPhysObject
971 } 973 }
972 set { 974 set {
973 _rotationalVelocity = value; 975 _rotationalVelocity = value;
976 Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
974 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); 977 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
975 PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() 978 PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
976 { 979 {
977 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
978 ForceRotationalVelocity = _rotationalVelocity; 980 ForceRotationalVelocity = _rotationalVelocity;
979 }); 981 });
980 } 982 }
@@ -987,7 +989,9 @@ public sealed class BSPrim : BSPhysObject
987 _rotationalVelocity = value; 989 _rotationalVelocity = value;
988 if (PhysBody.HasPhysicalBody) 990 if (PhysBody.HasPhysicalBody)
989 { 991 {
992 DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
990 PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); 993 PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
994 // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
991 ActivateIfPhysical(false); 995 ActivateIfPhysical(false);
992 } 996 }
993 } 997 }
@@ -1055,10 +1059,16 @@ public sealed class BSPrim : BSPhysObject
1055 1059
1056 RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep) 1060 RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
1057 { 1061 {
1062 if (!IsPhysicallyActive)
1063 {
1064 UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
1065 return;
1066 }
1067
1058 OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below) 1068 OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below)
1059 1069
1060 // 'movePosition' is where we'd like the prim to be at this moment. 1070 // 'movePosition' is where we'd like the prim to be at this moment.
1061 OMV.Vector3 movePosition = _targetMotor.Step(timeStep); 1071 OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep);
1062 1072
1063 // If we are very close to our target, turn off the movement motor. 1073 // If we are very close to our target, turn off the movement motor.
1064 if (_targetMotor.ErrorIsZero()) 1074 if (_targetMotor.ErrorIsZero())
@@ -1102,6 +1112,9 @@ public sealed class BSPrim : BSPhysObject
1102 1112
1103 RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep) 1113 RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
1104 { 1114 {
1115 if (!IsPhysicallyActive)
1116 return;
1117
1105 _hoverMotor.SetCurrent(RawPosition.Z); 1118 _hoverMotor.SetCurrent(RawPosition.Z);
1106 _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight()); 1119 _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
1107 float targetHeight = _hoverMotor.Step(timeStep); 1120 float targetHeight = _hoverMotor.Step(timeStep);
@@ -1166,28 +1179,25 @@ public sealed class BSPrim : BSPhysObject
1166 public override float APIDDamping { set { return; } } 1179 public override float APIDDamping { set { return; } }
1167 1180
1168 public override void AddForce(OMV.Vector3 force, bool pushforce) { 1181 public override void AddForce(OMV.Vector3 force, bool pushforce) {
1182 // Per documentation, max force is limited.
1183 OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
1184
1169 // Since this force is being applied in only one step, make this a force per second. 1185 // Since this force is being applied in only one step, make this a force per second.
1170 OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; 1186 addForce /= PhysicsScene.LastTimeStep;
1171 AddForce(addForce, pushforce, false); 1187 AddForce(addForce, pushforce, false /* inTaintTime */);
1172 } 1188 }
1189
1173 // Applying a force just adds this to the total force on the object. 1190 // Applying a force just adds this to the total force on the object.
1174 // This added force will only last the next simulation tick. 1191 // This added force will only last the next simulation tick.
1175 public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { 1192 public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
1176 // for an object, doesn't matter if force is a pushforce or not 1193 // for an object, doesn't matter if force is a pushforce or not
1177 if (!IsStatic) 1194 if (IsPhysicallyActive)
1178 { 1195 {
1179 if (force.IsFinite()) 1196 if (force.IsFinite())
1180 { 1197 {
1181 float magnitude = force.Length();
1182 if (magnitude > BSParam.MaxAddForceMagnitude)
1183 {
1184 // Force has a limit
1185 force = force / magnitude * BSParam.MaxAddForceMagnitude;
1186 }
1187
1188 OMV.Vector3 addForce = force;
1189 // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); 1198 // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
1190 1199
1200 OMV.Vector3 addForce = force;
1191 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() 1201 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
1192 { 1202 {
1193 // Bullet adds this central force to the total force for this tick 1203 // Bullet adds this central force to the total force for this tick
@@ -1209,19 +1219,13 @@ public sealed class BSPrim : BSPhysObject
1209 1219
1210 public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) { 1220 public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) {
1211 // for an object, doesn't matter if force is a pushforce or not 1221 // for an object, doesn't matter if force is a pushforce or not
1212 if (!IsStatic) 1222 if (!IsPhysicallyActive)
1213 { 1223 {
1214 if (impulse.IsFinite()) 1224 if (impulse.IsFinite())
1215 { 1225 {
1216 float magnitude = impulse.Length(); 1226 OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude);
1217 if (magnitude > BSParam.MaxAddForceMagnitude)
1218 {
1219 // Force has a limit
1220 impulse = impulse / magnitude * BSParam.MaxAddForceMagnitude;
1221 }
1222
1223 // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse); 1227 // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
1224 OMV.Vector3 addImpulse = impulse; 1228
1225 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate() 1229 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate()
1226 { 1230 {
1227 // Bullet adds this impulse immediately to the velocity 1231 // Bullet adds this impulse immediately to the velocity
@@ -1584,11 +1588,6 @@ public sealed class BSPrim : BSPhysObject
1584 // Called at taint-time!!! 1588 // Called at taint-time!!!
1585 public void CreateGeomAndObject(bool forceRebuild) 1589 public void CreateGeomAndObject(bool forceRebuild)
1586 { 1590 {
1587 // If this prim is part of a linkset, we must remove and restore the physical
1588 // links if the body is rebuilt.
1589 bool needToRestoreLinkset = false;
1590 bool needToRestoreVehicle = false;
1591
1592 // Create the correct physical representation for this type of object. 1591 // Create the correct physical representation for this type of object.
1593 // Updates PhysBody and PhysShape with the new information. 1592 // Updates PhysBody and PhysShape with the new information.
1594 // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. 1593 // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
@@ -1597,21 +1596,10 @@ public sealed class BSPrim : BSPhysObject
1597 // Called if the current prim body is about to be destroyed. 1596 // Called if the current prim body is about to be destroyed.
1598 // Remove all the physical dependencies on the old body. 1597 // Remove all the physical dependencies on the old body.
1599 // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) 1598 // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
1600 needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); 1599 Linkset.RemoveBodyDependencies(this);
1601 needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this); 1600 _vehicle.RemoveBodyDependencies(this);
1602 }); 1601 });
1603 1602
1604 if (needToRestoreLinkset)
1605 {
1606 // If physical body dependencies were removed, restore them
1607 Linkset.RestoreBodyDependencies(this);
1608 }
1609 if (needToRestoreVehicle)
1610 {
1611 // If physical body dependencies were removed, restore them
1612 _vehicle.RestoreBodyDependencies(this);
1613 }
1614
1615 // Make sure the properties are set on the new object 1603 // Make sure the properties are set on the new object
1616 UpdatePhysicalParameters(); 1604 UpdatePhysicalParameters();
1617 return; 1605 return;
@@ -1628,17 +1616,28 @@ public sealed class BSPrim : BSPhysObject
1628 // TODO: handle physics introduced by Bullet with computed vehicle physics. 1616 // TODO: handle physics introduced by Bullet with computed vehicle physics.
1629 if (_vehicle.IsActive) 1617 if (_vehicle.IsActive)
1630 { 1618 {
1631 entprop.RotationalVelocity = OMV.Vector3.Zero; 1619 // entprop.RotationalVelocity = OMV.Vector3.Zero;
1620 }
1621
1622 // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
1623
1624 // Undo any center-of-mass displacement that might have been done.
1625 if (PositionDisplacement != OMV.Vector3.Zero)
1626 {
1627 // Correct for any rotation around the center-of-mass
1628 // TODO!!!
1629 entprop.Position -= PositionDisplacement;
1632 } 1630 }
1633 1631
1634 // Assign directly to the local variables so the normal set actions do not happen 1632 // Assign directly to the local variables so the normal set actions do not happen
1635 entprop.Position -= PositionDisplacement;
1636 _position = entprop.Position; 1633 _position = entprop.Position;
1637 _orientation = entprop.Rotation; 1634 _orientation = entprop.Rotation;
1638 _velocity = entprop.Velocity; 1635 _velocity = entprop.Velocity;
1639 _acceleration = entprop.Acceleration; 1636 _acceleration = entprop.Acceleration;
1640 _rotationalVelocity = entprop.RotationalVelocity; 1637 _rotationalVelocity = entprop.RotationalVelocity;
1641 1638
1639 // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
1640
1642 // The sanity check can change the velocity and/or position. 1641 // The sanity check can change the velocity and/or position.
1643 if (IsPhysical && PositionSanityCheck(true)) 1642 if (IsPhysical && PositionSanityCheck(true))
1644 { 1643 {
@@ -1647,8 +1646,7 @@ public sealed class BSPrim : BSPhysObject
1647 } 1646 }
1648 1647
1649 OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG 1648 OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
1650 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", 1649 DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
1651 LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
1652 1650
1653 // remember the current and last set values 1651 // remember the current and last set values
1654 LastEntityProperties = CurrentEntityProperties; 1652 LastEntityProperties = CurrentEntityProperties;
@@ -1667,7 +1665,7 @@ public sealed class BSPrim : BSPhysObject
1667 */ 1665 */
1668 1666
1669 // The linkset implimentation might want to know about this. 1667 // The linkset implimentation might want to know about this.
1670 Linkset.UpdateProperties(this, true); 1668 Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
1671 } 1669 }
1672} 1670}
1673} 1671}