BulletSim: move a bunch of common logic out of BSPrim and BSCharacter

    and into the parent class BSPhysObject.
Rework collision logic to enable extra collision after done colliding.
Rename 'Scene' to 'PhysicsScene' to differentiate it from the simulator 'Scene'.

1 files changed, 41 insertions, 19 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 52997dd..dabced5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -75,10 +75,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     public Dictionary<uint, BSPhysObject> PhysObjects = new Dictionary<uint, BSPhysObject>();
 
-    private HashSet<BSPhysObject> m_objectsWithCollisions = new HashSet<BSPhysObject>();
-    // Following is a kludge and can  be removed when avatar animation updating is
-    //    moved to a better place.
-    private HashSet<BSPhysObject> m_avatarsWithCollisions = new HashSet<BSPhysObject>();
+    public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
+    public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
+    // Keep track of all the avatars so we can send them a collision event
+    //    every tick so OpenSim will update its animation.
+    private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
 
     // List of all the objects that have vehicle properties and should be called
     //    to update each physics step.
@@ -379,7 +380,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         // TODO: Remove kludge someday.
         // We must generate a collision for avatars whether they collide or not.
         // This is required by OpenSim to update avatar animations, etc.
-        lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Add(actor);
+        lock (m_avatars) m_avatars.Add(actor);
 
         return actor;
     }
@@ -397,7 +398,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             {
                 lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
                 // Remove kludge someday
-                lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Remove(bsactor);
+                lock (m_avatars) m_avatars.Remove(bsactor);
             }
             catch (Exception e)
             {
@@ -464,6 +465,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         int collidersCount = 0;
         IntPtr collidersPtr;
 
+        int beforeTime = 0;
+        int simTime = 0;
+
         // prevent simulation until we've been initialized
         if (!m_initialized) return 5.0f;
 
@@ -481,10 +485,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         int numSubSteps = 0;
         try
         {
+            if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
+
             numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
                         out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
-            DetailLog("{0},Simulate,call, nTaints= {1}, substeps={2}, updates={3}, colliders={4}", 
-                        DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); 
+
+            if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
+            DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}", 
+                        DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); 
         }
         catch (Exception e)
         {
@@ -502,12 +510,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         // Get a value for 'now' so all the collision and update routines don't have to get their own
         SimulationNowTime = Util.EnvironmentTickCount();
 
-        // This is a kludge to get avatar movement updates. 
-        //   ODE sends collisions for avatars even if there are have been no collisions. This updates
-        //   avatar animations and stuff.
-        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
-        m_objectsWithCollisions = new HashSet<BSPhysObject>(m_avatarsWithCollisions);
-
         // If there were collisions, process them by sending the event to the prim.
         // Collisions must be processed before updates.
         if (collidersCount > 0)
@@ -523,11 +525,31 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
+        // This is a kludge to get avatar movement updates. 
+        //   ODE sends collisions for avatars even if there are have been no collisions. This updates
+        //   avatar animations and stuff.
+        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
+        foreach (BSPhysObject bsp in m_avatars)
+            bsp.SendCollisions();
+
         // The above SendCollision's batch up the collisions on the objects.
         //      Now push the collisions into the simulator.
-        foreach (BSPhysObject bsp in m_objectsWithCollisions)
-            bsp.SendCollisions();
-        m_objectsWithCollisions.Clear();
+        // If the object is done colliding, it will add itself to the ObjectsWithNoMoreCollisions list.
+        if (ObjectsWithCollisions.Count > 0)
+        {
+            foreach (BSPhysObject bsp in ObjectsWithCollisions)
+                if (!m_avatars.Contains(bsp))   // don't call avatars twice
+                    bsp.SendCollisions();
+        }
+
+        // Objects that are done colliding are removed from the ObjectsWithCollisions list.
+        // This can't be done by SendCollisions because it is inside an iteration of ObjectWithCollisions.
+        if (ObjectsWithNoMoreCollisions.Count > 0)
+        {
+            foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
+                ObjectsWithCollisions.Remove(po);
+            ObjectsWithNoMoreCollisions.Clear();
+        }
 
         // If any of the objects had updated properties, tell the object it has been changed by the physics engine
         if (updatedEntityCount > 0)
@@ -555,7 +577,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
         // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS.
-        return numSubSteps * m_fixedTimeStep;
+        return numSubSteps * m_fixedTimeStep * 1000;
     }
 
     // Something has collided
@@ -583,7 +605,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
         {
             // If a collision was posted, remember to send it to the simulator
-            m_objectsWithCollisions.Add(collider);
+            ObjectsWithCollisions.Add(collider);
         }
 
         return;