diff options
author | Robert Adams | 2012-07-25 10:33:36 -0700 |
---|---|---|
committer | Robert Adams | 2012-07-25 16:30:50 -0700 |
commit | 5707e171f4c231b58ff683d49fee55e4ccbb317f (patch) | |
tree | 95539e7115710f04f01b8521af83934de0052442 /OpenSim/Region/Physics/BulletSPlugin | |
parent | Move Watchdog and MemoryWatchdog classes into OpenSim.Framework.Monitoring wi... (diff) | |
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BulletSim: Move constraint tracking from C++ code to C# code
for more flexibility.
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 53 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 48 |
2 files changed, 83 insertions, 18 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a19d6d7..ff87955 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -97,6 +97,9 @@ public sealed class BSPrim : PhysicsActor | |||
97 | long _collidingStep; | 97 | long _collidingStep; |
98 | long _collidingGroundStep; | 98 | long _collidingGroundStep; |
99 | 99 | ||
100 | private BulletBody m_body; | ||
101 | public BulletBody Body { get { return m_body; } } | ||
102 | |||
100 | private BSDynamics _vehicle; | 103 | private BSDynamics _vehicle; |
101 | 104 | ||
102 | private OMV.Vector3 _PIDTarget; | 105 | private OMV.Vector3 _PIDTarget; |
@@ -138,6 +141,11 @@ public sealed class BSPrim : PhysicsActor | |||
138 | _scene.TaintedObject(delegate() | 141 | _scene.TaintedObject(delegate() |
139 | { | 142 | { |
140 | RecreateGeomAndObject(); | 143 | RecreateGeomAndObject(); |
144 | |||
145 | // Get the pointer to the physical body for this object. | ||
146 | // At the moment, we're still letting BulletSim manage the creation and destruction | ||
147 | // of the object. Someday we'll move that into the C# code. | ||
148 | m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); | ||
141 | }); | 149 | }); |
142 | } | 150 | } |
143 | 151 | ||
@@ -161,7 +169,7 @@ public sealed class BSPrim : PhysicsActor | |||
161 | _parentPrim = null; | 169 | _parentPrim = null; |
162 | } | 170 | } |
163 | 171 | ||
164 | // make sure there are no possible children depending on me | 172 | // make sure there are no other prims are linked to me |
165 | UnlinkAllChildren(); | 173 | UnlinkAllChildren(); |
166 | 174 | ||
167 | // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. | 175 | // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. |
@@ -333,11 +341,11 @@ public sealed class BSPrim : PhysicsActor | |||
333 | _rotationalVelocity = OMV.Vector3.Zero; | 341 | _rotationalVelocity = OMV.Vector3.Zero; |
334 | 342 | ||
335 | // Zero some other properties directly into the physics engine | 343 | // Zero some other properties directly into the physics engine |
336 | IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); | 344 | BulletBody obj = new BulletBody(LocalID, BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID)); |
337 | BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero); | 345 | BulletSimAPI.SetVelocity2(obj.Ptr, OMV.Vector3.Zero); |
338 | BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero); | 346 | BulletSimAPI.SetAngularVelocity2(obj.Ptr, OMV.Vector3.Zero); |
339 | BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero); | 347 | BulletSimAPI.SetInterpolation2(obj.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); |
340 | BulletSimAPI.ClearForces2(obj); | 348 | BulletSimAPI.ClearForces2(obj.Ptr); |
341 | } | 349 | } |
342 | 350 | ||
343 | public override void LockAngularMotion(OMV.Vector3 axis) | 351 | public override void LockAngularMotion(OMV.Vector3 axis) |
@@ -383,7 +391,8 @@ public sealed class BSPrim : PhysicsActor | |||
383 | _scene.TaintedObject(delegate() | 391 | _scene.TaintedObject(delegate() |
384 | { | 392 | { |
385 | DetailLog("{0},SetForce,taint,force={1}", LocalID, _force); | 393 | DetailLog("{0},SetForce,taint,force={1}", LocalID, _force); |
386 | BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); | 394 | // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); |
395 | BulletSimAPI.SetObjectForce2(Body.Ptr, _force); | ||
387 | }); | 396 | }); |
388 | } | 397 | } |
389 | } | 398 | } |
@@ -407,8 +416,7 @@ public sealed class BSPrim : PhysicsActor | |||
407 | _scene.TaintedObject(delegate() | 416 | _scene.TaintedObject(delegate() |
408 | { | 417 | { |
409 | // Tell the physics engine to clear state | 418 | // Tell the physics engine to clear state |
410 | IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); | 419 | BulletSimAPI.ClearForces2(this.Body.Ptr); |
411 | BulletSimAPI.ClearForces2(obj); | ||
412 | }); | 420 | }); |
413 | 421 | ||
414 | // make it so the scene will call us each tick to do vehicle things | 422 | // make it so the scene will call us each tick to do vehicle things |
@@ -420,7 +428,6 @@ public sealed class BSPrim : PhysicsActor | |||
420 | } | 428 | } |
421 | public override void VehicleFloatParam(int param, float value) | 429 | public override void VehicleFloatParam(int param, float value) |
422 | { | 430 | { |
423 | m_log.DebugFormat("{0} VehicleFloatParam. {1} <= {2}", LogHeader, param, value); | ||
424 | _scene.TaintedObject(delegate() | 431 | _scene.TaintedObject(delegate() |
425 | { | 432 | { |
426 | _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); | 433 | _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); |
@@ -428,7 +435,6 @@ public sealed class BSPrim : PhysicsActor | |||
428 | } | 435 | } |
429 | public override void VehicleVectorParam(int param, OMV.Vector3 value) | 436 | public override void VehicleVectorParam(int param, OMV.Vector3 value) |
430 | { | 437 | { |
431 | m_log.DebugFormat("{0} VehicleVectorParam. {1} <= {2}", LogHeader, param, value); | ||
432 | _scene.TaintedObject(delegate() | 438 | _scene.TaintedObject(delegate() |
433 | { | 439 | { |
434 | _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); | 440 | _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); |
@@ -436,7 +442,6 @@ public sealed class BSPrim : PhysicsActor | |||
436 | } | 442 | } |
437 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) | 443 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) |
438 | { | 444 | { |
439 | m_log.DebugFormat("{0} VehicleRotationParam. {1} <= {2}", LogHeader, param, rotation); | ||
440 | _scene.TaintedObject(delegate() | 445 | _scene.TaintedObject(delegate() |
441 | { | 446 | { |
442 | _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); | 447 | _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); |
@@ -444,7 +449,6 @@ public sealed class BSPrim : PhysicsActor | |||
444 | } | 449 | } |
445 | public override void VehicleFlags(int param, bool remove) | 450 | public override void VehicleFlags(int param, bool remove) |
446 | { | 451 | { |
447 | m_log.DebugFormat("{0} VehicleFlags. {1}. Remove={2}", LogHeader, param, remove); | ||
448 | _scene.TaintedObject(delegate() | 452 | _scene.TaintedObject(delegate() |
449 | { | 453 | { |
450 | _vehicle.ProcessVehicleFlags(param, remove); | 454 | _vehicle.ProcessVehicleFlags(param, remove); |
@@ -1296,7 +1300,7 @@ public sealed class BSPrim : PhysicsActor | |||
1296 | 1300 | ||
1297 | // remove any constraints that might be in place | 1301 | // remove any constraints that might be in place |
1298 | DebugLog("{0}: CreateLinkset: RemoveConstraints between me and any children", LogHeader, LocalID); | 1302 | DebugLog("{0}: CreateLinkset: RemoveConstraints between me and any children", LogHeader, LocalID); |
1299 | BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); | 1303 | UnlinkAllChildren(); |
1300 | 1304 | ||
1301 | // create constraints between the root prim and each of the children | 1305 | // create constraints between the root prim and each of the children |
1302 | foreach (BSPrim prim in _childrenPrims) | 1306 | foreach (BSPrim prim in _childrenPrims) |
@@ -1323,6 +1327,7 @@ public sealed class BSPrim : PhysicsActor | |||
1323 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | 1327 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 |
1324 | DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); | 1328 | DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); |
1325 | DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); | 1329 | DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); |
1330 | /* | ||
1326 | BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID, | 1331 | BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID, |
1327 | childRelativePosition, | 1332 | childRelativePosition, |
1328 | childRelativeRotation, | 1333 | childRelativeRotation, |
@@ -1330,6 +1335,20 @@ public sealed class BSPrim : PhysicsActor | |||
1330 | OMV.Quaternion.Identity, | 1335 | OMV.Quaternion.Identity, |
1331 | OMV.Vector3.Zero, OMV.Vector3.Zero, | 1336 | OMV.Vector3.Zero, OMV.Vector3.Zero, |
1332 | OMV.Vector3.Zero, OMV.Vector3.Zero); | 1337 | OMV.Vector3.Zero, OMV.Vector3.Zero); |
1338 | */ | ||
1339 | // BSConstraint constrain = new BSConstraint(_scene.World, this.Body, childPrim.Body, | ||
1340 | BSConstraint constrain = _scene.Constraints.CreateConstraint( | ||
1341 | _scene.World, this.Body, childPrim.Body, | ||
1342 | childRelativePosition, | ||
1343 | childRelativeRotation, | ||
1344 | OMV.Vector3.Zero, | ||
1345 | OMV.Quaternion.Identity); | ||
1346 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
1347 | constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
1348 | |||
1349 | // tweek the constraint to increase stability | ||
1350 | constrain.UseFrameOffset(true); | ||
1351 | constrain.TranslationalLimitMotor(true, 5f, 0.1f); | ||
1333 | } | 1352 | } |
1334 | 1353 | ||
1335 | // Remove linkage between myself and a particular child | 1354 | // Remove linkage between myself and a particular child |
@@ -1339,7 +1358,8 @@ public sealed class BSPrim : PhysicsActor | |||
1339 | DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}", | 1358 | DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}", |
1340 | LogHeader, LocalID, childPrim.LocalID); | 1359 | LogHeader, LocalID, childPrim.LocalID); |
1341 | DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); | 1360 | DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); |
1342 | BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); | 1361 | // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); |
1362 | _scene.Constraints.RemoveAndDestroyConstraint(this.Body, childPrim.Body); | ||
1343 | } | 1363 | } |
1344 | 1364 | ||
1345 | // Remove linkage between myself and any possible children I might have | 1365 | // Remove linkage between myself and any possible children I might have |
@@ -1348,7 +1368,8 @@ public sealed class BSPrim : PhysicsActor | |||
1348 | { | 1368 | { |
1349 | DebugLog("{0}: UnlinkAllChildren:", LogHeader); | 1369 | DebugLog("{0}: UnlinkAllChildren:", LogHeader); |
1350 | DetailLog("{0},UnlinkAllChildren,taint", LocalID); | 1370 | DetailLog("{0},UnlinkAllChildren,taint", LocalID); |
1351 | BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); | 1371 | _scene.Constraints.RemoveAndDestroyConstraint(this.Body); |
1372 | // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); | ||
1352 | } | 1373 | } |
1353 | 1374 | ||
1354 | #endregion // Linkset creation and destruction | 1375 | #endregion // Linkset creation and destruction |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 54a8cfd..89fd9b7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -32,6 +32,28 @@ using OpenMetaverse; | |||
32 | 32 | ||
33 | namespace OpenSim.Region.Physics.BulletSPlugin { | 33 | namespace OpenSim.Region.Physics.BulletSPlugin { |
34 | 34 | ||
35 | // Classes to allow some type checking for the API | ||
36 | public struct BulletSim | ||
37 | { | ||
38 | public BulletSim(uint id, IntPtr xx) { ID = id; Ptr = xx; } | ||
39 | public IntPtr Ptr; | ||
40 | public uint ID; | ||
41 | } | ||
42 | |||
43 | public struct BulletBody | ||
44 | { | ||
45 | public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } | ||
46 | public IntPtr Ptr; | ||
47 | public uint ID; | ||
48 | } | ||
49 | |||
50 | public struct BulletConstraint | ||
51 | { | ||
52 | public BulletConstraint(IntPtr xx) { Ptr = xx; } | ||
53 | public IntPtr Ptr; | ||
54 | } | ||
55 | |||
56 | // =============================================================================== | ||
35 | [StructLayout(LayoutKind.Sequential)] | 57 | [StructLayout(LayoutKind.Sequential)] |
36 | public struct ConvexHull | 58 | public struct ConvexHull |
37 | { | 59 | { |
@@ -142,6 +164,11 @@ public struct ConfigurationParameters | |||
142 | public float shouldEnableFrictionCaching; | 164 | public float shouldEnableFrictionCaching; |
143 | public float numberOfSolverIterations; | 165 | public float numberOfSolverIterations; |
144 | 166 | ||
167 | public float linkConstraintUseFrameOffset; | ||
168 | public float linkConstraintEnableTransMotor; | ||
169 | public float linkConstraintTransMotorMaxVel; | ||
170 | public float linkConstraintTransMotorMaxForce; | ||
171 | |||
145 | public const float numericTrue = 1f; | 172 | public const float numericTrue = 1f; |
146 | public const float numericFalse = 0f; | 173 | public const float numericFalse = 0f; |
147 | } | 174 | } |
@@ -162,6 +189,7 @@ public enum CollisionFlags : uint | |||
162 | PHYSICAL_OBJECT = 1 << 12, | 189 | PHYSICAL_OBJECT = 1 << 12, |
163 | }; | 190 | }; |
164 | 191 | ||
192 | // =============================================================================== | ||
165 | static class BulletSimAPI { | 193 | static class BulletSimAPI { |
166 | 194 | ||
167 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 195 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -214,6 +242,7 @@ public static extern bool CreateObject(uint worldID, ShapeData shapeData); | |||
214 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 242 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
215 | public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); | 243 | public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); |
216 | 244 | ||
245 | /* Remove old functionality | ||
217 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 246 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
218 | public static extern void AddConstraint(uint worldID, uint id1, uint id2, | 247 | public static extern void AddConstraint(uint worldID, uint id1, uint id2, |
219 | Vector3 frame1, Quaternion frame1rot, | 248 | Vector3 frame1, Quaternion frame1rot, |
@@ -225,6 +254,7 @@ public static extern bool RemoveConstraintByID(uint worldID, uint id1); | |||
225 | 254 | ||
226 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 255 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
227 | public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); | 256 | public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); |
257 | */ | ||
228 | 258 | ||
229 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 259 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
230 | public static extern Vector3 GetObjectPosition(uint WorldID, uint id); | 260 | public static extern Vector3 GetObjectPosition(uint WorldID, uint id); |
@@ -350,8 +380,22 @@ public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); | |||
350 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 380 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
351 | public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, | 381 | public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, |
352 | Vector3 frame1loc, Quaternion frame1rot, | 382 | Vector3 frame1loc, Quaternion frame1rot, |
353 | Vector3 frame2loc, Quaternion frame2rot, | 383 | Vector3 frame2loc, Quaternion frame2rot); |
354 | Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); | 384 | |
385 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
386 | public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); | ||
387 | |||
388 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
389 | public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); | ||
390 | |||
391 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
392 | public static extern bool UseFrameOffset2(IntPtr constrain, float enable); | ||
393 | |||
394 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
395 | public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); | ||
396 | |||
397 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
398 | public static extern bool CalculateTransforms2(IntPtr constrain); | ||
355 | 399 | ||
356 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 400 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
357 | public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); | 401 | public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); |