diff options
author | Robert Adams | 2012-08-09 15:01:05 -0700 |
---|---|---|
committer | Robert Adams | 2012-08-09 15:01:05 -0700 |
commit | 38e79b80a87d213748d55d66e8b72021999d3945 (patch) | |
tree | f8da528b7cc0038e6df145c1ad70874c142a85e3 /OpenSim/Region | |
parent | BulletSim: add avatar code to keep avatars from ending up trapped under the t... (diff) | |
download | opensim-SC-38e79b80a87d213748d55d66e8b72021999d3945.zip opensim-SC-38e79b80a87d213748d55d66e8b72021999d3945.tar.gz opensim-SC-38e79b80a87d213748d55d66e8b72021999d3945.tar.bz2 opensim-SC-38e79b80a87d213748d55d66e8b72021999d3945.tar.xz |
BulletSim: separate out the constraints by type. The linksets use
6dof constraint but eventually others will be exposed so future
features can use all the Bullet capabilities.
Force children to generate a position update when unlinked.
Diffstat (limited to '')
6 files changed, 146 insertions, 94 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs new file mode 100755 index 0000000..72df6b9 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs | |||
@@ -0,0 +1,80 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
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 | ||
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 | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | using System; | ||
28 | using System.Collections.Generic; | ||
29 | using System.Text; | ||
30 | using OpenMetaverse; | ||
31 | |||
32 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
33 | { | ||
34 | |||
35 | public class BS6DofConstraint : BSConstraint | ||
36 | { | ||
37 | // Create a btGeneric6DofConstraint | ||
38 | public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, | ||
39 | Vector3 frame1, Quaternion frame1rot, | ||
40 | Vector3 frame2, Quaternion frame2rot ) | ||
41 | { | ||
42 | m_world = world; | ||
43 | m_body1 = obj1; | ||
44 | m_body2 = obj2; | ||
45 | m_constraint = new BulletConstraint( | ||
46 | BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, | ||
47 | frame1, frame1rot, | ||
48 | frame2, frame2rot, | ||
49 | true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/)); | ||
50 | m_enabled = true; | ||
51 | } | ||
52 | |||
53 | public bool SetCFMAndERP(float cfm, float erp) | ||
54 | { | ||
55 | bool ret = true; | ||
56 | BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); | ||
57 | BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); | ||
58 | BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); | ||
59 | return ret; | ||
60 | } | ||
61 | |||
62 | public bool UseFrameOffset(bool useOffset) | ||
63 | { | ||
64 | bool ret = false; | ||
65 | float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; | ||
66 | if (m_enabled) | ||
67 | ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); | ||
68 | return ret; | ||
69 | } | ||
70 | |||
71 | public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) | ||
72 | { | ||
73 | bool ret = false; | ||
74 | float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; | ||
75 | if (m_enabled) | ||
76 | ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); | ||
77 | return ret; | ||
78 | } | ||
79 | } | ||
80 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index ea3093a..a17efea 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | |||
@@ -32,30 +32,19 @@ using OpenMetaverse; | |||
32 | namespace OpenSim.Region.Physics.BulletSPlugin | 32 | namespace OpenSim.Region.Physics.BulletSPlugin |
33 | { | 33 | { |
34 | 34 | ||
35 | public class BSConstraint : IDisposable | 35 | public abstract class BSConstraint : IDisposable |
36 | { | 36 | { |
37 | private BulletSim m_world; | 37 | protected BulletSim m_world; |
38 | private BulletBody m_body1; | 38 | protected BulletBody m_body1; |
39 | private BulletBody m_body2; | 39 | protected BulletBody m_body2; |
40 | private BulletConstraint m_constraint; | 40 | protected BulletConstraint m_constraint; |
41 | private bool m_enabled = false; | 41 | protected bool m_enabled = false; |
42 | 42 | ||
43 | public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, | 43 | public BSConstraint() |
44 | Vector3 frame1, Quaternion frame1rot, | ||
45 | Vector3 frame2, Quaternion frame2rot | ||
46 | ) | ||
47 | { | 44 | { |
48 | m_world = world; | ||
49 | m_body1 = obj1; | ||
50 | m_body2 = obj2; | ||
51 | m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, | ||
52 | frame1, frame1rot, | ||
53 | frame2, frame2rot, | ||
54 | true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/)); | ||
55 | m_enabled = true; | ||
56 | } | 45 | } |
57 | 46 | ||
58 | public void Dispose() | 47 | public virtual void Dispose() |
59 | { | 48 | { |
60 | if (m_enabled) | 49 | if (m_enabled) |
61 | { | 50 | { |
@@ -68,7 +57,7 @@ public class BSConstraint : IDisposable | |||
68 | public BulletBody Body1 { get { return m_body1; } } | 57 | public BulletBody Body1 { get { return m_body1; } } |
69 | public BulletBody Body2 { get { return m_body2; } } | 58 | public BulletBody Body2 { get { return m_body2; } } |
70 | 59 | ||
71 | public bool SetLinearLimits(Vector3 low, Vector3 high) | 60 | public virtual bool SetLinearLimits(Vector3 low, Vector3 high) |
72 | { | 61 | { |
73 | bool ret = false; | 62 | bool ret = false; |
74 | if (m_enabled) | 63 | if (m_enabled) |
@@ -76,7 +65,7 @@ public class BSConstraint : IDisposable | |||
76 | return ret; | 65 | return ret; |
77 | } | 66 | } |
78 | 67 | ||
79 | public bool SetAngularLimits(Vector3 low, Vector3 high) | 68 | public virtual bool SetAngularLimits(Vector3 low, Vector3 high) |
80 | { | 69 | { |
81 | bool ret = false; | 70 | bool ret = false; |
82 | if (m_enabled) | 71 | if (m_enabled) |
@@ -84,34 +73,7 @@ public class BSConstraint : IDisposable | |||
84 | return ret; | 73 | return ret; |
85 | } | 74 | } |
86 | 75 | ||
87 | public bool SetCFMAndERP(float cfm, float erp) | 76 | public virtual bool CalculateTransforms() |
88 | { | ||
89 | bool ret = true; | ||
90 | BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); | ||
91 | BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); | ||
92 | BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); | ||
93 | return ret; | ||
94 | } | ||
95 | |||
96 | public bool UseFrameOffset(bool useOffset) | ||
97 | { | ||
98 | bool ret = false; | ||
99 | float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; | ||
100 | if (m_enabled) | ||
101 | ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); | ||
102 | return ret; | ||
103 | } | ||
104 | |||
105 | public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) | ||
106 | { | ||
107 | bool ret = false; | ||
108 | float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; | ||
109 | if (m_enabled) | ||
110 | ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); | ||
111 | return ret; | ||
112 | } | ||
113 | |||
114 | public bool CalculateTransforms() | ||
115 | { | 77 | { |
116 | bool ret = false; | 78 | bool ret = false; |
117 | if (m_enabled) | 79 | if (m_enabled) |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index c88e645..397045a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs | |||
@@ -63,16 +63,6 @@ public class BSConstraintCollection : IDisposable | |||
63 | m_constraints.Clear(); | 63 | m_constraints.Clear(); |
64 | } | 64 | } |
65 | 65 | ||
66 | public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, | ||
67 | Vector3 frame1, Quaternion frame1rot, | ||
68 | Vector3 frame2, Quaternion frame2rot) | ||
69 | { | ||
70 | BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); | ||
71 | |||
72 | this.AddConstraint(constrain); | ||
73 | return constrain; | ||
74 | } | ||
75 | |||
76 | public bool AddConstraint(BSConstraint cons) | 66 | public bool AddConstraint(BSConstraint cons) |
77 | { | 67 | { |
78 | // There is only one constraint between any bodies. Remove any old just to make sure. | 68 | // There is only one constraint between any bodies. Remove any old just to make sure. |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index d19c4b8..e265d6d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | |||
@@ -101,7 +101,7 @@ public class BSLinkset | |||
101 | { | 101 | { |
102 | // Note that we don't do a foreach because the remove routine | 102 | // Note that we don't do a foreach because the remove routine |
103 | // takes it out of the list. | 103 | // takes it out of the list. |
104 | RemoveChildFromLinkset(m_children[0]); | 104 | RemoveChildFromOtherLinkset(m_children[0]); |
105 | } | 105 | } |
106 | m_children.Clear(); // just to make sure | 106 | m_children.Clear(); // just to make sure |
107 | } | 107 | } |
@@ -124,6 +124,7 @@ public class BSLinkset | |||
124 | 124 | ||
125 | lock (m_linksetActivityLock) | 125 | lock (m_linksetActivityLock) |
126 | { | 126 | { |
127 | // The body pointer is refetched in case anything has moved. | ||
127 | System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID); | 128 | System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID); |
128 | if (aPtr == System.IntPtr.Zero) | 129 | if (aPtr == System.IntPtr.Zero) |
129 | { | 130 | { |
@@ -155,7 +156,7 @@ public class BSLinkset | |||
155 | } | 156 | } |
156 | foreach (BSPrim bsp in toRemove) | 157 | foreach (BSPrim bsp in toRemove) |
157 | { | 158 | { |
158 | RemoveChildFromLinkset(bsp); | 159 | RemoveChildFromOtherLinkset(bsp); |
159 | } | 160 | } |
160 | } | 161 | } |
161 | } | 162 | } |
@@ -208,7 +209,8 @@ public class BSLinkset | |||
208 | com += bp.Position * bp.MassRaw; | 209 | com += bp.Position * bp.MassRaw; |
209 | totalMass += bp.MassRaw; | 210 | totalMass += bp.MassRaw; |
210 | } | 211 | } |
211 | com /= totalMass; | 212 | if (totalMass != 0f) |
213 | com /= totalMass; | ||
212 | 214 | ||
213 | return com; | 215 | return com; |
214 | } | 216 | } |
@@ -221,7 +223,7 @@ public class BSLinkset | |||
221 | { | 223 | { |
222 | com += bp.Position * bp.MassRaw; | 224 | com += bp.Position * bp.MassRaw; |
223 | } | 225 | } |
224 | com /= m_children.Count + 1; | 226 | com /= (m_children.Count + 1); |
225 | 227 | ||
226 | return com; | 228 | return com; |
227 | } | 229 | } |
@@ -237,13 +239,24 @@ public class BSLinkset | |||
237 | m_scene.TaintedObject(delegate() | 239 | m_scene.TaintedObject(delegate() |
238 | { | 240 | { |
239 | DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); | 241 | DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); |
240 | DetailLog("{0},AddChildToLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); | 242 | DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID); |
241 | PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child | 243 | PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child |
242 | }); | 244 | }); |
243 | } | 245 | } |
244 | return; | 246 | return; |
245 | } | 247 | } |
246 | 248 | ||
249 | // Forcefully removing a child from a linkset. | ||
250 | // This is not being called by the child so we have to make sure the child doesn't think | ||
251 | // it's still connected to the linkset. | ||
252 | // Normal OpenSimulator operation will never do this because other SceneObjectPart information | ||
253 | // has to be updated also (like pointer to prim's parent). | ||
254 | public void RemoveChildFromOtherLinkset(BSPrim pchild) | ||
255 | { | ||
256 | pchild.Linkset = new BSLinkset(m_scene, pchild); | ||
257 | RemoveChildFromLinkset(pchild); | ||
258 | } | ||
259 | |||
247 | // I am the root of a linkset and one of my children is being removed. | 260 | // I am the root of a linkset and one of my children is being removed. |
248 | // Safe to call even if the child is not really in my linkset. | 261 | // Safe to call even if the child is not really in my linkset. |
249 | public void RemoveChildFromLinkset(BSPrim pchild) | 262 | public void RemoveChildFromLinkset(BSPrim pchild) |
@@ -255,7 +268,7 @@ public class BSLinkset | |||
255 | m_scene.TaintedObject(delegate() | 268 | m_scene.TaintedObject(delegate() |
256 | { | 269 | { |
257 | DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); | 270 | DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); |
258 | DetailLog("{0},RemoveChildFromLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); | 271 | DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID); |
259 | 272 | ||
260 | if (m_children.Count == 0) | 273 | if (m_children.Count == 0) |
261 | { | 274 | { |
@@ -294,13 +307,14 @@ public class BSLinkset | |||
294 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | 307 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 |
295 | // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); | 308 | // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); |
296 | DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); | 309 | DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); |
297 | BSConstraint constrain = m_scene.Constraints.CreateConstraint( | 310 | BS6DofConstraint constrain = new BS6DofConstraint( |
298 | m_scene.World, m_linksetRoot.Body, childPrim.Body, | 311 | m_scene.World, m_linksetRoot.Body, childPrim.Body, |
299 | childRelativePosition, | 312 | childRelativePosition, |
300 | childRelativeRotation, | 313 | childRelativeRotation, |
301 | OMV.Vector3.Zero, | 314 | OMV.Vector3.Zero, |
302 | -childRelativeRotation | 315 | -childRelativeRotation |
303 | ); | 316 | ); |
317 | m_scene.Constraints.AddConstraint(constrain); | ||
304 | 318 | ||
305 | // zero linear and angular limits makes the objects unable to move in relation to each other | 319 | // zero linear and angular limits makes the objects unable to move in relation to each other |
306 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | 320 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); |
@@ -319,11 +333,13 @@ public class BSLinkset | |||
319 | // Called at taint time! | 333 | // Called at taint time! |
320 | private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim) | 334 | private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim) |
321 | { | 335 | { |
322 | DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", | 336 | // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", |
323 | LogHeader, m_linksetRoot.LocalID, childPrim.LocalID); | 337 | // LogHeader, m_linksetRoot.LocalID, childPrim.LocalID); |
324 | DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); | 338 | DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); |
325 | // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); | 339 | |
326 | m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body); | 340 | m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body); |
341 | // Make the child refresh its location | ||
342 | BulletSimAPI.PushUpdate2(childPrim.Body.Ptr); | ||
327 | } | 343 | } |
328 | 344 | ||
329 | // Remove linkage between myself and any possible children I might have | 345 | // Remove linkage between myself and any possible children I might have |
@@ -332,8 +348,8 @@ public class BSLinkset | |||
332 | { | 348 | { |
333 | // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); | 349 | // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); |
334 | DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID); | 350 | DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID); |
351 | |||
335 | m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body); | 352 | m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body); |
336 | // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); | ||
337 | } | 353 | } |
338 | 354 | ||
339 | // Invoke the detailed logger and output something if it's enabled. | 355 | // Invoke the detailed logger and output something if it's enabled. |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 98b69b1..e0f6ed2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -224,10 +224,12 @@ public sealed class BSPrim : PhysicsActor | |||
224 | // link me to the specified parent | 224 | // link me to the specified parent |
225 | public override void link(PhysicsActor obj) { | 225 | public override void link(PhysicsActor obj) { |
226 | BSPrim parent = obj as BSPrim; | 226 | BSPrim parent = obj as BSPrim; |
227 | DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); | 227 | if (parent != null) |
228 | DetailLog("{0},link,parent={1}", LocalID, obj.LocalID); | 228 | { |
229 | 229 | DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID); | |
230 | _linkset = _linkset.AddMeToLinkset(this, parent); | 230 | DetailLog("{0},link,parent={1}", LocalID, parent.LocalID); |
231 | _linkset = _linkset.AddMeToLinkset(this, parent); | ||
232 | } | ||
231 | return; | 233 | return; |
232 | } | 234 | } |
233 | 235 | ||
@@ -478,7 +480,6 @@ public sealed class BSPrim : PhysicsActor | |||
478 | 480 | ||
479 | // Make gravity work if the object is physical and not selected | 481 | // Make gravity work if the object is physical and not selected |
480 | // No locking here because only called when it is safe | 482 | // No locking here because only called when it is safe |
481 | // Only called at taint time so it is save to call into Bullet. | ||
482 | private void SetObjectDynamic() | 483 | private void SetObjectDynamic() |
483 | { | 484 | { |
484 | // RA: remove this for the moment. | 485 | // RA: remove this for the moment. |
@@ -982,7 +983,7 @@ public sealed class BSPrim : PhysicsActor | |||
982 | // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); | 983 | // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); |
983 | if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) | 984 | if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) |
984 | { | 985 | { |
985 | DetailLog("{0},CreateGeom,sphere", LocalID); | 986 | DetailLog("{0},CreateGeom,sphere (force={1}", LocalID, forceRebuild); |
986 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; | 987 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; |
987 | // Bullet native objects are scaled by the Bullet engine so pass the size in | 988 | // Bullet native objects are scaled by the Bullet engine so pass the size in |
988 | _scale = _size; | 989 | _scale = _size; |
@@ -996,7 +997,7 @@ public sealed class BSPrim : PhysicsActor | |||
996 | // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); | 997 | // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); |
997 | if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) | 998 | if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) |
998 | { | 999 | { |
999 | DetailLog("{0},CreateGeom,box", LocalID); | 1000 | DetailLog("{0},CreateGeom,box (force={1})", LocalID, forceRebuild); |
1000 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; | 1001 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; |
1001 | _scale = _size; | 1002 | _scale = _size; |
1002 | // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? | 1003 | // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 86fc9d2..c016402 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -363,7 +363,7 @@ public static extern IntPtr GetSimHandle2(uint worldID); | |||
363 | public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); | 363 | public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); |
364 | 364 | ||
365 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 365 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
366 | public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); | 366 | public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); |
367 | 367 | ||
368 | // =============================================================================== | 368 | // =============================================================================== |
369 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 369 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -372,40 +372,43 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, | |||
372 | int maxUpdates, IntPtr updateArray); | 372 | int maxUpdates, IntPtr updateArray); |
373 | 373 | ||
374 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 374 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
375 | public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value); | 375 | public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); |
376 | 376 | ||
377 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 377 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
378 | public static extern void SetHeightmap2(IntPtr sim, float[] heightmap); | 378 | public static extern void SetHeightmap2(IntPtr world, float[] heightmap); |
379 | 379 | ||
380 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 380 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
381 | public static extern void Shutdown2(IntPtr sim); | 381 | public static extern void Shutdown2(IntPtr sim); |
382 | 382 | ||
383 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 383 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
384 | public static extern int PhysicsStep2(IntPtr sim, float timeStep, int maxSubSteps, float fixedTimeStep, | 384 | public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, |
385 | out int updatedEntityCount, | 385 | out int updatedEntityCount, |
386 | out IntPtr updatedEntitiesPtr, | 386 | out IntPtr updatedEntitiesPtr, |
387 | out int collidersCount, | 387 | out int collidersCount, |
388 | out IntPtr collidersPtr); | 388 | out IntPtr collidersPtr); |
389 | 389 | ||
390 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
391 | public static extern bool PushUpdate2(IntPtr obj); | ||
392 | |||
390 | /* | 393 | /* |
391 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 394 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
392 | public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices ); | 395 | public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices ); |
393 | 396 | ||
394 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 397 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
395 | public static extern bool BuildHull2(IntPtr sim, IntPtr mesh); | 398 | public static extern bool BuildHull2(IntPtr world, IntPtr mesh); |
396 | 399 | ||
397 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 400 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
398 | public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh); | 401 | public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh); |
399 | 402 | ||
400 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 403 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
401 | public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh); | 404 | public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh); |
402 | 405 | ||
403 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 406 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
404 | public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); | 407 | public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData); |
405 | */ | 408 | */ |
406 | 409 | ||
407 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 410 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
408 | public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, | 411 | public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, |
409 | Vector3 frame1loc, Quaternion frame1rot, | 412 | Vector3 frame1loc, Quaternion frame1rot, |
410 | Vector3 frame2loc, Quaternion frame2rot, | 413 | Vector3 frame2loc, Quaternion frame2rot, |
411 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); | 414 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); |
@@ -429,7 +432,13 @@ public static extern bool CalculateTransforms2(IntPtr constrain); | |||
429 | public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); | 432 | public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); |
430 | 433 | ||
431 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 434 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
432 | public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); | 435 | public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); |
436 | |||
437 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
438 | public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj); | ||
439 | |||
440 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
441 | public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj); | ||
433 | 442 | ||
434 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 443 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
435 | public static extern Vector3 GetPosition2(IntPtr obj); | 444 | public static extern Vector3 GetPosition2(IntPtr obj); |
@@ -510,12 +519,6 @@ public static extern bool SetMargin2(IntPtr obj, float val); | |||
510 | public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); | 519 | public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); |
511 | 520 | ||
512 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 521 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
513 | public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); | ||
514 | |||
515 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
516 | public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); | ||
517 | |||
518 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
519 | public static extern bool DestroyObject2(IntPtr world, uint id); | 522 | public static extern bool DestroyObject2(IntPtr world, uint id); |
520 | 523 | ||
521 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 524 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |