diff options
author | Robert Adams | 2013-02-01 11:52:27 -0800 |
---|---|---|
committer | Robert Adams | 2013-02-01 11:52:27 -0800 |
commit | 5bb85a14d46ad280b045e945edcc9e9bc6045612 (patch) | |
tree | f3b1d963d8f78d9272b46e682798de9226ad1108 /OpenSim/Region | |
parent | BulletSim: fix crash caused when linksets were rebuilt. A problem added (diff) | |
download | opensim-SC-5bb85a14d46ad280b045e945edcc9e9bc6045612.zip opensim-SC-5bb85a14d46ad280b045e945edcc9e9bc6045612.tar.gz opensim-SC-5bb85a14d46ad280b045e945edcc9e9bc6045612.tar.bz2 opensim-SC-5bb85a14d46ad280b045e945edcc9e9bc6045612.tar.xz |
BulletSim: fix problem where editting a physical linkset caused the
child prim physical positions to get out of sync with the view.
More reliably compute the offset of children in a physical linkset.
Diffstat (limited to 'OpenSim/Region')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 51 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 1 |
2 files changed, 33 insertions, 19 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 6c6ca09..0c4db40 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | |||
@@ -219,30 +219,31 @@ public sealed class BSLinksetCompound : BSLinkset | |||
219 | { | 219 | { |
220 | // Gather the child info. It might not be there if the linkset is in transition. | 220 | // Gather the child info. It might not be there if the linkset is in transition. |
221 | BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo; | 221 | BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo; |
222 | 222 | if (lsi != null) | |
223 | // The linksetInfo will need to be rebuilt either here or when the linkset is rebuilt | ||
224 | if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null) | ||
225 | { | 223 | { |
226 | if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) | 224 | // Since the child moved or rotationed, it needs a new relative position within the linkset |
225 | BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); | ||
226 | updated.LinksetInfo = newLsi; | ||
227 | |||
228 | // Find the physical instance of the child | ||
229 | if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) | ||
227 | { | 230 | { |
231 | // It is possible that the linkset is still under construction and the child is not yet | ||
232 | // inserted into the compound shape. A rebuild of the linkset in a pre-step action will | ||
233 | // build the whole thing with the new position or rotation. | ||
234 | // The index must be checked because Bullet references the child array but does no validity | ||
235 | // checking of the child index passed. | ||
228 | int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape); | 236 | int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape); |
229 | if (lsi.Index < numLinksetChildren) | 237 | if (lsi.Index < numLinksetChildren) |
230 | { | 238 | { |
231 | // It is possible that the linkset is still under construction and the child is not yet | ||
232 | // inserted into the compound shape. A rebuild of the linkset in a pre-step action will | ||
233 | // build the whole thing with the new position or rotation. | ||
234 | // This must be checked for because Bullet references the child array but does no validity | ||
235 | // checking of the child index passed. | ||
236 | BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index); | 239 | BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index); |
237 | if (linksetChildShape.HasPhysicalShape) | 240 | if (linksetChildShape.HasPhysicalShape) |
238 | { | 241 | { |
239 | // Compute the offset from the center-of-gravity | 242 | // Found the child shape within the compound shape |
240 | BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); | ||
241 | PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index, | 243 | PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index, |
242 | newLsi.OffsetFromCenterOfMass, | 244 | newLsi.OffsetFromCenterOfMass, |
243 | newLsi.OffsetRot, | 245 | newLsi.OffsetRot, |
244 | true /* shouldRecalculateLocalAabb */); | 246 | true /* shouldRecalculateLocalAabb */); |
245 | updated.LinksetInfo = newLsi; | ||
246 | updatedChild = true; | 247 | updatedChild = true; |
247 | DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}", | 248 | DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}", |
248 | updated.LocalID, whichUpdated, newLsi); | 249 | updated.LocalID, whichUpdated, newLsi); |
@@ -262,19 +263,20 @@ public sealed class BSLinksetCompound : BSLinkset | |||
262 | } | 263 | } |
263 | else // DEBUG DEBUG | 264 | else // DEBUG DEBUG |
264 | { // DEBUG DEBUG | 265 | { // DEBUG DEBUG |
265 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID); | 266 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID); |
266 | } // DEBUG DEBUG | 267 | } // DEBUG DEBUG |
267 | } | 268 | } |
268 | else // DEBUG DEBUG | 269 | else // DEBUG DEBUG |
269 | { // DEBUG DEBUG | 270 | { // DEBUG DEBUG |
270 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,rootPhysShape={1},lsi={2}", | 271 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noLinkSetInfo,rootPhysShape={1}", |
271 | updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString()); | 272 | updated.LocalID, LinksetRoot.PhysShape); |
272 | } // DEBUG DEBUG | 273 | } // DEBUG DEBUG |
274 | |||
273 | if (!updatedChild) | 275 | if (!updatedChild) |
274 | { | 276 | { |
275 | // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info. | 277 | // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info. |
276 | // Note that there are several ways through this code that will not update the child that can | 278 | // Note: there are several ways through this code that will not update the child if |
277 | // occur if the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since | 279 | // the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since |
278 | // there will already be a rebuild scheduled. | 280 | // there will already be a rebuild scheduled. |
279 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", | 281 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", |
280 | updated.LocalID, whichUpdated); | 282 | updated.LocalID, whichUpdated); |
@@ -300,7 +302,8 @@ public sealed class BSLinksetCompound : BSLinkset | |||
300 | { | 302 | { |
301 | // Because it is a convenient time, recompute child world position and rotation based on | 303 | // Because it is a convenient time, recompute child world position and rotation based on |
302 | // its position in the linkset. | 304 | // its position in the linkset. |
303 | RecomputeChildWorldPosition(child, true); | 305 | RecomputeChildWorldPosition(child, true /* inTaintTime */); |
306 | child.LinksetInfo = null; | ||
304 | } | 307 | } |
305 | 308 | ||
306 | // Cannot schedule a refresh/rebuild here because this routine is called when | 309 | // Cannot schedule a refresh/rebuild here because this routine is called when |
@@ -315,6 +318,14 @@ public sealed class BSLinksetCompound : BSLinkset | |||
315 | // prim. The child prim's location must be recomputed based on the location of the root shape. | 318 | // prim. The child prim's location must be recomputed based on the location of the root shape. |
316 | private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) | 319 | private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) |
317 | { | 320 | { |
321 | // For the moment (20130201), disable this computation (converting the child physical addr back to | ||
322 | // a region address) until we have a good handle on center-of-mass offsets and what the physics | ||
323 | // engine moving a child actually means. | ||
324 | // The simulator keeps track of where children should be as the linkset moves. Setting | ||
325 | // the pos/rot here does not effect that knowledge as there is no good way for the | ||
326 | // physics engine to send the simulator an update for a child. | ||
327 | |||
328 | /* | ||
318 | BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; | 329 | BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; |
319 | if (lci != null) | 330 | if (lci != null) |
320 | { | 331 | { |
@@ -343,6 +354,7 @@ public sealed class BSLinksetCompound : BSLinkset | |||
343 | // LogHeader, child.LocalID); | 354 | // LogHeader, child.LocalID); |
344 | DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID); | 355 | DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID); |
345 | } | 356 | } |
357 | */ | ||
346 | } | 358 | } |
347 | 359 | ||
348 | // ================================================================ | 360 | // ================================================================ |
@@ -376,6 +388,7 @@ public sealed class BSLinksetCompound : BSLinkset | |||
376 | 388 | ||
377 | // Cause the child's body to be rebuilt and thus restored to normal operation | 389 | // Cause the child's body to be rebuilt and thus restored to normal operation |
378 | RecomputeChildWorldPosition(child, false); | 390 | RecomputeChildWorldPosition(child, false); |
391 | child.LinksetInfo = null; | ||
379 | child.ForceBodyShapeRebuild(false); | 392 | child.ForceBodyShapeRebuild(false); |
380 | 393 | ||
381 | if (!HasAnyChildren) | 394 | if (!HasAnyChildren) |
@@ -397,7 +410,7 @@ public sealed class BSLinksetCompound : BSLinkset | |||
397 | // Constraint linksets are rebuilt every time. | 410 | // Constraint linksets are rebuilt every time. |
398 | // Note that this works for rebuilding just the root after a linkset is taken apart. | 411 | // Note that this works for rebuilding just the root after a linkset is taken apart. |
399 | // Called at taint time!! | 412 | // Called at taint time!! |
400 | private bool disableCOM = true; // disable until we get this debugged | 413 | private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged |
401 | private void RecomputeLinksetCompound() | 414 | private void RecomputeLinksetCompound() |
402 | { | 415 | { |
403 | try | 416 | try |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 7dfdec1..a3b3556 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | |||
@@ -127,6 +127,7 @@ Physical and phantom will drop through the terrain | |||
127 | 127 | ||
128 | LINKSETS | 128 | LINKSETS |
129 | ====================================================== | 129 | ====================================================== |
130 | Child prims do not report collisions | ||
130 | Editing a child of a linkset causes the child to go phantom | 131 | Editing a child of a linkset causes the child to go phantom |
131 | Move a child prim once when it is physical and can never move it again without it going phantom | 132 | Move a child prim once when it is physical and can never move it again without it going phantom |
132 | Offset the center of the linkset to be the geometric center of all the prims | 133 | Offset the center of the linkset to be the geometric center of all the prims |