diff options
author | Melanie | 2012-08-11 17:32:30 +0100 |
---|---|---|
committer | Melanie | 2012-08-11 17:32:30 +0100 |
commit | 93e3ab3ebd81e4a8d588e49d5486903867cf0257 (patch) | |
tree | 1f1389187afd43439b8274b16912c2fee5b654b6 /OpenSim | |
parent | Merge branch 'master' into careminster (diff) | |
parent | Merge branch 'bulletsim7' (diff) | |
download | opensim-SC-93e3ab3ebd81e4a8d588e49d5486903867cf0257.zip opensim-SC-93e3ab3ebd81e4a8d588e49d5486903867cf0257.tar.gz opensim-SC-93e3ab3ebd81e4a8d588e49d5486903867cf0257.tar.bz2 opensim-SC-93e3ab3ebd81e4a8d588e49d5486903867cf0257.tar.xz |
Merge branch 'master' into careminster
Diffstat (limited to 'OpenSim')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs | 80 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 86 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 64 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs | 18 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 114 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 167 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 87 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 46 |
8 files changed, 377 insertions, 285 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/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d4f5c63..f164afe 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
@@ -122,7 +122,7 @@ public class BSCharacter : PhysicsActor | |||
122 | shapeData.Restitution = _scene.Params.avatarRestitution; | 122 | shapeData.Restitution = _scene.Params.avatarRestitution; |
123 | 123 | ||
124 | // do actual create at taint time | 124 | // do actual create at taint time |
125 | _scene.TaintedObject(delegate() | 125 | _scene.TaintedObject("BSCharacter.create", delegate() |
126 | { | 126 | { |
127 | BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); | 127 | BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); |
128 | 128 | ||
@@ -138,7 +138,7 @@ public class BSCharacter : PhysicsActor | |||
138 | public void Destroy() | 138 | public void Destroy() |
139 | { | 139 | { |
140 | // DetailLog("{0},Destroy", LocalID); | 140 | // DetailLog("{0},Destroy", LocalID); |
141 | _scene.TaintedObject(delegate() | 141 | _scene.TaintedObject("BSCharacter.destroy", delegate() |
142 | { | 142 | { |
143 | BulletSimAPI.DestroyObject(_scene.WorldID, _localID); | 143 | BulletSimAPI.DestroyObject(_scene.WorldID, _localID); |
144 | }); | 144 | }); |
@@ -169,7 +169,7 @@ public class BSCharacter : PhysicsActor | |||
169 | 169 | ||
170 | ComputeAvatarVolumeAndMass(); | 170 | ComputeAvatarVolumeAndMass(); |
171 | 171 | ||
172 | _scene.TaintedObject(delegate() | 172 | _scene.TaintedObject("BSCharacter.setSize", delegate() |
173 | { | 173 | { |
174 | BulletSimAPI.SetObjectScaleMass(_scene.WorldID, LocalID, _scale, _mass, true); | 174 | BulletSimAPI.SetObjectScaleMass(_scene.WorldID, LocalID, _scale, _mass, true); |
175 | }); | 175 | }); |
@@ -205,13 +205,37 @@ public class BSCharacter : PhysicsActor | |||
205 | } | 205 | } |
206 | set { | 206 | set { |
207 | _position = value; | 207 | _position = value; |
208 | _scene.TaintedObject(delegate() | 208 | PositionSanityCheck(); |
209 | |||
210 | _scene.TaintedObject("BSCharacter.setPosition", delegate() | ||
209 | { | 211 | { |
210 | DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 212 | DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
211 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); | 213 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); |
212 | }); | 214 | }); |
213 | } | 215 | } |
214 | } | 216 | } |
217 | |||
218 | // Check that the current position is sane and, if not, modify the position to make it so. | ||
219 | // Check for being below terrain and being out of bounds. | ||
220 | // Returns 'true' of the position was made sane by some action. | ||
221 | private bool PositionSanityCheck() | ||
222 | { | ||
223 | bool ret = false; | ||
224 | |||
225 | // If below the ground, move the avatar up | ||
226 | float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position); | ||
227 | if (_position.Z < terrainHeight) | ||
228 | { | ||
229 | DetailLog("{0},PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation); | ||
230 | _position.Z = terrainHeight + 2.0f; | ||
231 | ret = true; | ||
232 | } | ||
233 | |||
234 | // TODO: check for out of bounds | ||
235 | |||
236 | return ret; | ||
237 | } | ||
238 | |||
215 | public override float Mass { | 239 | public override float Mass { |
216 | get { | 240 | get { |
217 | return _mass; | 241 | return _mass; |
@@ -222,9 +246,9 @@ public class BSCharacter : PhysicsActor | |||
222 | set { | 246 | set { |
223 | _force = value; | 247 | _force = value; |
224 | // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); | 248 | // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); |
225 | Scene.TaintedObject(delegate() | 249 | Scene.TaintedObject("BSCharacter.SetForce", delegate() |
226 | { | 250 | { |
227 | DetailLog("{0},setForce,taint,force={1}", LocalID, _force); | 251 | DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); |
228 | BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force); | 252 | BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force); |
229 | }); | 253 | }); |
230 | } | 254 | } |
@@ -249,9 +273,9 @@ public class BSCharacter : PhysicsActor | |||
249 | set { | 273 | set { |
250 | _velocity = value; | 274 | _velocity = value; |
251 | // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); | 275 | // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); |
252 | _scene.TaintedObject(delegate() | 276 | _scene.TaintedObject("BSCharacter.setVelocity", delegate() |
253 | { | 277 | { |
254 | DetailLog("{0},setVelocity,taint,vel={1}", LocalID, _velocity); | 278 | DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); |
255 | BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); | 279 | BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); |
256 | }); | 280 | }); |
257 | } | 281 | } |
@@ -275,7 +299,7 @@ public class BSCharacter : PhysicsActor | |||
275 | set { | 299 | set { |
276 | _orientation = value; | 300 | _orientation = value; |
277 | // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); | 301 | // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); |
278 | _scene.TaintedObject(delegate() | 302 | _scene.TaintedObject("BSCharacter.setOrientation", delegate() |
279 | { | 303 | { |
280 | // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); | 304 | // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); |
281 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); | 305 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); |
@@ -342,7 +366,7 @@ public class BSCharacter : PhysicsActor | |||
342 | public override float Buoyancy { | 366 | public override float Buoyancy { |
343 | get { return _buoyancy; } | 367 | get { return _buoyancy; } |
344 | set { _buoyancy = value; | 368 | set { _buoyancy = value; |
345 | _scene.TaintedObject(delegate() | 369 | _scene.TaintedObject("BSCharacter.setBuoyancy", delegate() |
346 | { | 370 | { |
347 | DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); | 371 | DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); |
348 | BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); | 372 | BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); |
@@ -389,7 +413,7 @@ public class BSCharacter : PhysicsActor | |||
389 | _force.Y += force.Y; | 413 | _force.Y += force.Y; |
390 | _force.Z += force.Z; | 414 | _force.Z += force.Z; |
391 | // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); | 415 | // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); |
392 | _scene.TaintedObject(delegate() | 416 | _scene.TaintedObject("BSCharacter.AddForce", delegate() |
393 | { | 417 | { |
394 | DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force); | 418 | DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force); |
395 | BulletSimAPI.AddObjectForce2(Body.Ptr, _force); | 419 | BulletSimAPI.AddObjectForce2(Body.Ptr, _force); |
@@ -415,7 +439,7 @@ public class BSCharacter : PhysicsActor | |||
415 | // make sure first collision happens | 439 | // make sure first collision happens |
416 | _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; | 440 | _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; |
417 | 441 | ||
418 | Scene.TaintedObject(delegate() | 442 | Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate() |
419 | { | 443 | { |
420 | BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 444 | BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
421 | }); | 445 | }); |
@@ -425,7 +449,7 @@ public class BSCharacter : PhysicsActor | |||
425 | public override void UnSubscribeEvents() { | 449 | public override void UnSubscribeEvents() { |
426 | _subscribedEventsMs = 0; | 450 | _subscribedEventsMs = 0; |
427 | // Avatars get all their collision events | 451 | // Avatars get all their collision events |
428 | // Scene.TaintedObject(delegate() | 452 | // Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate() |
429 | // { | 453 | // { |
430 | // BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 454 | // BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
431 | // }); | 455 | // }); |
@@ -456,43 +480,17 @@ public class BSCharacter : PhysicsActor | |||
456 | // the world that things have changed. | 480 | // the world that things have changed. |
457 | public void UpdateProperties(EntityProperties entprop) | 481 | public void UpdateProperties(EntityProperties entprop) |
458 | { | 482 | { |
459 | /* | ||
460 | bool changed = false; | ||
461 | // we assign to the local variables so the normal set action does not happen | ||
462 | if (_position != entprop.Position) { | ||
463 | _position = entprop.Position; | ||
464 | changed = true; | ||
465 | } | ||
466 | if (_orientation != entprop.Rotation) { | ||
467 | _orientation = entprop.Rotation; | ||
468 | changed = true; | ||
469 | } | ||
470 | if (_velocity != entprop.Velocity) { | ||
471 | _velocity = entprop.Velocity; | ||
472 | changed = true; | ||
473 | } | ||
474 | if (_acceleration != entprop.Acceleration) { | ||
475 | _acceleration = entprop.Acceleration; | ||
476 | changed = true; | ||
477 | } | ||
478 | if (_rotationalVelocity != entprop.RotationalVelocity) { | ||
479 | _rotationalVelocity = entprop.RotationalVelocity; | ||
480 | changed = true; | ||
481 | } | ||
482 | if (changed) { | ||
483 | // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); | ||
484 | // Avatar movement is not done by generating this event. There is code in the heartbeat | ||
485 | // loop that updates avatars. | ||
486 | // base.RequestPhysicsterseUpdate(); | ||
487 | } | ||
488 | */ | ||
489 | _position = entprop.Position; | 483 | _position = entprop.Position; |
490 | _orientation = entprop.Rotation; | 484 | _orientation = entprop.Rotation; |
491 | _velocity = entprop.Velocity; | 485 | _velocity = entprop.Velocity; |
492 | _acceleration = entprop.Acceleration; | 486 | _acceleration = entprop.Acceleration; |
493 | _rotationalVelocity = entprop.RotationalVelocity; | 487 | _rotationalVelocity = entprop.RotationalVelocity; |
494 | // Avatars don't report theirr changes the usual way. Changes are checked for in the heartbeat loop. | 488 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. |
495 | // base.RequestPhysicsterseUpdate(); | 489 | // base.RequestPhysicsterseUpdate(); |
490 | |||
491 | DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", | ||
492 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, | ||
493 | entprop.Acceleration, entprop.RotationalVelocity); | ||
496 | } | 494 | } |
497 | 495 | ||
498 | // Called by the scene when a collision with this object is reported | 496 | // Called by the scene when a collision with this object is reported |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index ea3093a..da26b72 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | |||
@@ -32,35 +32,26 @@ 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 | { |
62 | // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); | 51 | // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); |
63 | BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); | 52 | bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); |
53 | m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); | ||
54 | m_constraint.Ptr = System.IntPtr.Zero; | ||
64 | m_enabled = false; | 55 | m_enabled = false; |
65 | } | 56 | } |
66 | } | 57 | } |
@@ -68,7 +59,7 @@ public class BSConstraint : IDisposable | |||
68 | public BulletBody Body1 { get { return m_body1; } } | 59 | public BulletBody Body1 { get { return m_body1; } } |
69 | public BulletBody Body2 { get { return m_body2; } } | 60 | public BulletBody Body2 { get { return m_body2; } } |
70 | 61 | ||
71 | public bool SetLinearLimits(Vector3 low, Vector3 high) | 62 | public virtual bool SetLinearLimits(Vector3 low, Vector3 high) |
72 | { | 63 | { |
73 | bool ret = false; | 64 | bool ret = false; |
74 | if (m_enabled) | 65 | if (m_enabled) |
@@ -76,7 +67,7 @@ public class BSConstraint : IDisposable | |||
76 | return ret; | 67 | return ret; |
77 | } | 68 | } |
78 | 69 | ||
79 | public bool SetAngularLimits(Vector3 low, Vector3 high) | 70 | public virtual bool SetAngularLimits(Vector3 low, Vector3 high) |
80 | { | 71 | { |
81 | bool ret = false; | 72 | bool ret = false; |
82 | if (m_enabled) | 73 | if (m_enabled) |
@@ -84,34 +75,7 @@ public class BSConstraint : IDisposable | |||
84 | return ret; | 75 | return ret; |
85 | } | 76 | } |
86 | 77 | ||
87 | public bool SetCFMAndERP(float cfm, float erp) | 78 | 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 | { | 79 | { |
116 | bool ret = false; | 80 | bool ret = false; |
117 | if (m_enabled) | 81 | if (m_enabled) |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index c88e645..3df2ddc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs | |||
@@ -63,21 +63,13 @@ 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. |
79 | RemoveAndDestroyConstraint(cons.Body1, cons.Body2); | 69 | RemoveAndDestroyConstraint(cons.Body1, cons.Body2); |
80 | 70 | ||
71 | m_world.scene.DetailLog("{0},BSConstraintCollection.AddConstraint,call,body1={1},body2={2}", BSScene.DetailLogZero, cons.Body1.ID, cons.Body2.ID); | ||
72 | |||
81 | m_constraints.Add(cons); | 73 | m_constraints.Add(cons); |
82 | 74 | ||
83 | return true; | 75 | return true; |
@@ -118,6 +110,7 @@ public class BSConstraintCollection : IDisposable | |||
118 | 110 | ||
119 | if (this.TryGetConstraint(body1, body2, out constrain)) | 111 | if (this.TryGetConstraint(body1, body2, out constrain)) |
120 | { | 112 | { |
113 | m_world.scene.DetailLog("{0},BSConstraintCollection.RemoveAndDestroyConstraint,taint,body1={1},body2={2}", BSScene.DetailLogZero, body1.ID, body2.ID); | ||
121 | // remove the constraint from our collection | 114 | // remove the constraint from our collection |
122 | m_constraints.Remove(constrain); | 115 | m_constraints.Remove(constrain); |
123 | // tell the engine that all its structures need to be freed | 116 | // tell the engine that all its structures need to be freed |
@@ -158,10 +151,11 @@ public class BSConstraintCollection : IDisposable | |||
158 | 151 | ||
159 | public bool RecalculateAllConstraints() | 152 | public bool RecalculateAllConstraints() |
160 | { | 153 | { |
161 | foreach (BSConstraint constrain in m_constraints) | 154 | ForEachConstraint(delegate(BSConstraint constrain) |
162 | { | 155 | { |
163 | constrain.CalculateTransforms(); | 156 | constrain.CalculateTransforms(); |
164 | } | 157 | return false; |
158 | }); | ||
165 | return true; | 159 | return true; |
166 | } | 160 | } |
167 | 161 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 6f8430c..4a71612 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | |||
@@ -40,6 +40,7 @@ public class BSLinkset | |||
40 | public BSPrim Root { get { return m_linksetRoot; } } | 40 | public BSPrim Root { get { return m_linksetRoot; } } |
41 | 41 | ||
42 | private BSScene m_scene; | 42 | private BSScene m_scene; |
43 | public BSScene Scene { get { return m_scene; } } | ||
43 | 44 | ||
44 | private List<BSPrim> m_children; | 45 | private List<BSPrim> m_children; |
45 | 46 | ||
@@ -80,14 +81,14 @@ public class BSLinkset | |||
80 | 81 | ||
81 | // Link to a linkset where the child knows the parent. | 82 | // Link to a linkset where the child knows the parent. |
82 | // Parent changing should not happen so do some sanity checking. | 83 | // Parent changing should not happen so do some sanity checking. |
83 | // We return the parent's linkset so the child can track it's membership. | 84 | // We return the parent's linkset so the child can track its membership. |
84 | public BSLinkset AddMeToLinkset(BSPrim child, BSPrim parent) | 85 | public BSLinkset AddMeToLinkset(BSPrim child) |
85 | { | 86 | { |
86 | lock (m_linksetActivityLock) | 87 | lock (m_linksetActivityLock) |
87 | { | 88 | { |
88 | parent.Linkset.AddChildToLinkset(child); | 89 | AddChildToLinkset(child); |
89 | } | 90 | } |
90 | return parent.Linkset; | 91 | return this; |
91 | } | 92 | } |
92 | 93 | ||
93 | public BSLinkset RemoveMeFromLinkset(BSPrim child) | 94 | public BSLinkset RemoveMeFromLinkset(BSPrim child) |
@@ -101,7 +102,7 @@ public class BSLinkset | |||
101 | { | 102 | { |
102 | // Note that we don't do a foreach because the remove routine | 103 | // Note that we don't do a foreach because the remove routine |
103 | // takes it out of the list. | 104 | // takes it out of the list. |
104 | RemoveChildFromLinkset(m_children[0]); | 105 | RemoveChildFromOtherLinkset(m_children[0]); |
105 | } | 106 | } |
106 | m_children.Clear(); // just to make sure | 107 | m_children.Clear(); // just to make sure |
107 | } | 108 | } |
@@ -113,9 +114,10 @@ public class BSLinkset | |||
113 | } | 114 | } |
114 | 115 | ||
115 | // The child is down to a linkset of just itself | 116 | // The child is down to a linkset of just itself |
116 | return new BSLinkset(m_scene, child); | 117 | return new BSLinkset(Scene, child); |
117 | } | 118 | } |
118 | 119 | ||
120 | /* DEPRECATED: this is really bad in that it trys to unlink other prims. | ||
119 | // An existing linkset had one of its members rebuilt or something. | 121 | // An existing linkset had one of its members rebuilt or something. |
120 | // Go through the linkset and rebuild the pointers to the bodies of the linkset members. | 122 | // Go through the linkset and rebuild the pointers to the bodies of the linkset members. |
121 | public BSLinkset RefreshLinkset(BSPrim requestor) | 123 | public BSLinkset RefreshLinkset(BSPrim requestor) |
@@ -124,6 +126,7 @@ public class BSLinkset | |||
124 | 126 | ||
125 | lock (m_linksetActivityLock) | 127 | lock (m_linksetActivityLock) |
126 | { | 128 | { |
129 | // The body pointer is refetched in case anything has moved. | ||
127 | System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID); | 130 | System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID); |
128 | if (aPtr == System.IntPtr.Zero) | 131 | if (aPtr == System.IntPtr.Zero) |
129 | { | 132 | { |
@@ -155,13 +158,14 @@ public class BSLinkset | |||
155 | } | 158 | } |
156 | foreach (BSPrim bsp in toRemove) | 159 | foreach (BSPrim bsp in toRemove) |
157 | { | 160 | { |
158 | RemoveChildFromLinkset(bsp); | 161 | RemoveChildFromOtherLinkset(bsp); |
159 | } | 162 | } |
160 | } | 163 | } |
161 | } | 164 | } |
162 | 165 | ||
163 | return ret; | 166 | return ret; |
164 | } | 167 | } |
168 | */ | ||
165 | 169 | ||
166 | 170 | ||
167 | // Return 'true' if the passed object is the root object of this linkset | 171 | // Return 'true' if the passed object is the root object of this linkset |
@@ -170,6 +174,8 @@ public class BSLinkset | |||
170 | return (requestor.LocalID == m_linksetRoot.LocalID); | 174 | return (requestor.LocalID == m_linksetRoot.LocalID); |
171 | } | 175 | } |
172 | 176 | ||
177 | public int NumberOfChildren { get { return m_children.Count; } } | ||
178 | |||
173 | // Return 'true' if this linkset has any children (more than the root member) | 179 | // Return 'true' if this linkset has any children (more than the root member) |
174 | public bool HasAnyChildren { get { return (m_children.Count > 0); } } | 180 | public bool HasAnyChildren { get { return (m_children.Count > 0); } } |
175 | 181 | ||
@@ -208,7 +214,8 @@ public class BSLinkset | |||
208 | com += bp.Position * bp.MassRaw; | 214 | com += bp.Position * bp.MassRaw; |
209 | totalMass += bp.MassRaw; | 215 | totalMass += bp.MassRaw; |
210 | } | 216 | } |
211 | com /= totalMass; | 217 | if (totalMass != 0f) |
218 | com /= totalMass; | ||
212 | 219 | ||
213 | return com; | 220 | return com; |
214 | } | 221 | } |
@@ -221,51 +228,54 @@ public class BSLinkset | |||
221 | { | 228 | { |
222 | com += bp.Position * bp.MassRaw; | 229 | com += bp.Position * bp.MassRaw; |
223 | } | 230 | } |
224 | com /= m_children.Count + 1; | 231 | com /= (m_children.Count + 1); |
225 | 232 | ||
226 | return com; | 233 | return com; |
227 | } | 234 | } |
228 | 235 | ||
229 | // I am the root of a linkset and a new child is being added | 236 | // I am the root of a linkset and a new child is being added |
230 | public void AddChildToLinkset(BSPrim pchild) | 237 | // Called while LinkActivity is locked. |
238 | public void AddChildToLinkset(BSPrim child) | ||
231 | { | 239 | { |
232 | BSPrim child = pchild; | ||
233 | if (!HasChild(child)) | 240 | if (!HasChild(child)) |
234 | { | 241 | { |
235 | m_children.Add(child); | 242 | m_children.Add(child); |
236 | 243 | ||
237 | m_scene.TaintedObject(delegate() | 244 | BSPrim root = Root; // capture the root as of now |
245 | m_scene.TaintedObject("AddChildToLinkset", delegate() | ||
238 | { | 246 | { |
239 | DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); | 247 | 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); | 248 | DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); |
241 | PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child | 249 | PhysicallyLinkAChildToRoot(root, child); // build the physical binding between me and the child |
242 | }); | 250 | }); |
243 | } | 251 | } |
244 | return; | 252 | return; |
245 | } | 253 | } |
246 | 254 | ||
255 | // Forcefully removing a child from a linkset. | ||
256 | // This is not being called by the child so we have to make sure the child doesn't think | ||
257 | // it's still connected to the linkset. | ||
258 | // Normal OpenSimulator operation will never do this because other SceneObjectPart information | ||
259 | // has to be updated also (like pointer to prim's parent). | ||
260 | public void RemoveChildFromOtherLinkset(BSPrim pchild) | ||
261 | { | ||
262 | pchild.Linkset = new BSLinkset(m_scene, pchild); | ||
263 | RemoveChildFromLinkset(pchild); | ||
264 | } | ||
265 | |||
247 | // I am the root of a linkset and one of my children is being removed. | 266 | // 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. | 267 | // Safe to call even if the child is not really in my linkset. |
249 | public void RemoveChildFromLinkset(BSPrim pchild) | 268 | public void RemoveChildFromLinkset(BSPrim child) |
250 | { | 269 | { |
251 | BSPrim child = pchild; | ||
252 | |||
253 | if (m_children.Remove(child)) | 270 | if (m_children.Remove(child)) |
254 | { | 271 | { |
255 | m_scene.TaintedObject(delegate() | 272 | BSPrim root = Root; // capture the root as of now |
273 | m_scene.TaintedObject("RemoveChildFromLinkset", delegate() | ||
256 | { | 274 | { |
257 | DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); | 275 | DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); |
258 | DetailLog("{0},RemoveChildFromLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); | 276 | DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); |
259 | 277 | ||
260 | if (m_children.Count == 0) | 278 | PhysicallyUnlinkAChildFromRoot(root, child); |
261 | { | ||
262 | // if the linkset is empty, make sure all linkages have been removed | ||
263 | PhysicallyUnlinkAllChildrenFromRoot(); | ||
264 | } | ||
265 | else | ||
266 | { | ||
267 | PhysicallyUnlinkAChildFromRoot(pchild); | ||
268 | } | ||
269 | }); | 279 | }); |
270 | } | 280 | } |
271 | else | 281 | else |
@@ -278,14 +288,14 @@ public class BSLinkset | |||
278 | 288 | ||
279 | // Create a constraint between me (root of linkset) and the passed prim (the child). | 289 | // Create a constraint between me (root of linkset) and the passed prim (the child). |
280 | // Called at taint time! | 290 | // Called at taint time! |
281 | private void PhysicallyLinkAChildToRoot(BSPrim childPrim) | 291 | private void PhysicallyLinkAChildToRoot(BSPrim rootPrim, BSPrim childPrim) |
282 | { | 292 | { |
283 | // Zero motion for children so they don't interpolate | 293 | // Zero motion for children so they don't interpolate |
284 | childPrim.ZeroMotion(); | 294 | childPrim.ZeroMotion(); |
285 | 295 | ||
286 | // relative position normalized to the root prim | 296 | // relative position normalized to the root prim |
287 | OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(m_linksetRoot.Orientation); | 297 | OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); |
288 | OMV.Vector3 childRelativePosition = (childPrim.Position - m_linksetRoot.Position) * invThisOrientation; | 298 | OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; |
289 | 299 | ||
290 | // relative rotation of the child to the parent | 300 | // relative rotation of the child to the parent |
291 | OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; | 301 | OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; |
@@ -293,16 +303,17 @@ public class BSLinkset | |||
293 | // create a constraint that allows no freedom of movement between the two objects | 303 | // create a constraint that allows no freedom of movement between the two objects |
294 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | 304 | // 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); | 305 | // 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); | 306 | DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); |
297 | BSConstraint constrain = m_scene.Constraints.CreateConstraint( | 307 | BS6DofConstraint constrain = new BS6DofConstraint( |
298 | m_scene.World, m_linksetRoot.Body, childPrim.Body, | 308 | m_scene.World, rootPrim.Body, childPrim.Body, |
299 | // childRelativePosition, | 309 | childRelativePosition, |
300 | // childRelativeRotation, | 310 | childRelativeRotation, |
301 | OMV.Vector3.Zero, | ||
302 | OMV.Quaternion.Identity, | ||
303 | OMV.Vector3.Zero, | 311 | OMV.Vector3.Zero, |
304 | OMV.Quaternion.Identity | 312 | -childRelativeRotation |
305 | ); | 313 | ); |
314 | m_scene.Constraints.AddConstraint(constrain); | ||
315 | |||
316 | // 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); | 317 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); |
307 | constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | 318 | constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); |
308 | 319 | ||
@@ -317,29 +328,32 @@ public class BSLinkset | |||
317 | 328 | ||
318 | // Remove linkage between myself and a particular child | 329 | // Remove linkage between myself and a particular child |
319 | // Called at taint time! | 330 | // Called at taint time! |
320 | private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim) | 331 | private void PhysicallyUnlinkAChildFromRoot(BSPrim rootPrim, BSPrim childPrim) |
321 | { | 332 | { |
322 | DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", | 333 | // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", |
323 | LogHeader, m_linksetRoot.LocalID, childPrim.LocalID); | 334 | // LogHeader, rootPrim.LocalID, childPrim.LocalID); |
324 | DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); | 335 | DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); |
325 | // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); | 336 | |
326 | m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body); | 337 | m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body); |
338 | // Make the child refresh its location | ||
339 | BulletSimAPI.PushUpdate2(childPrim.Body.Ptr); | ||
327 | } | 340 | } |
328 | 341 | ||
329 | // Remove linkage between myself and any possible children I might have | 342 | // Remove linkage between myself and any possible children I might have |
330 | // Called at taint time! | 343 | // Called at taint time! |
331 | private void PhysicallyUnlinkAllChildrenFromRoot() | 344 | private void PhysicallyUnlinkAllChildrenFromRoot(BSPrim rootPrim) |
332 | { | 345 | { |
333 | // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); | 346 | // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); |
334 | DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID); | 347 | DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); |
335 | m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body); | 348 | |
336 | // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); | 349 | m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body); |
337 | } | 350 | } |
338 | 351 | ||
339 | // Invoke the detailed logger and output something if it's enabled. | 352 | // Invoke the detailed logger and output something if it's enabled. |
340 | private void DebugLog(string msg, params Object[] args) | 353 | private void DebugLog(string msg, params Object[] args) |
341 | { | 354 | { |
342 | m_scene.Logger.DebugFormat(msg, args); | 355 | if (m_scene.ShouldDebugLog) |
356 | m_scene.Logger.DebugFormat(msg, args); | ||
343 | } | 357 | } |
344 | 358 | ||
345 | // Invoke the detailed logger and output something if it's enabled. | 359 | // 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 11868bc..05cc822 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -42,7 +42,7 @@ public sealed class BSPrim : PhysicsActor | |||
42 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | 42 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); |
43 | private static readonly string LogHeader = "[BULLETS PRIM]"; | 43 | private static readonly string LogHeader = "[BULLETS PRIM]"; |
44 | 44 | ||
45 | private void DebugLog(string mm, params Object[] xx) { if (_scene.shouldDebugLog) m_log.DebugFormat(mm, xx); } | 45 | private void DebugLog(string mm, params Object[] xx) { if (_scene.ShouldDebugLog) m_log.DebugFormat(mm, xx); } |
46 | 46 | ||
47 | private IMesh _mesh; | 47 | private IMesh _mesh; |
48 | private PrimitiveBaseShape _pbs; | 48 | private PrimitiveBaseShape _pbs; |
@@ -138,14 +138,15 @@ public sealed class BSPrim : PhysicsActor | |||
138 | _isPhysical = pisPhysical; | 138 | _isPhysical = pisPhysical; |
139 | _isVolumeDetect = false; | 139 | _isVolumeDetect = false; |
140 | _subscribedEventsMs = 0; | 140 | _subscribedEventsMs = 0; |
141 | _friction = _scene.Params.defaultFriction; // TODO: compute based on object material | 141 | _friction = _scene.Params.defaultFriction; // TODO: compute based on object material |
142 | _density = _scene.Params.defaultDensity; // TODO: compute based on object material | 142 | _density = _scene.Params.defaultDensity; // TODO: compute based on object material |
143 | _restitution = _scene.Params.defaultRestitution; | 143 | _restitution = _scene.Params.defaultRestitution; |
144 | _linkset = new BSLinkset(_scene, this); // a linkset of one | 144 | _linkset = new BSLinkset(_scene, this); // a linkset of one |
145 | _vehicle = new BSDynamics(this); // add vehicleness | 145 | _vehicle = new BSDynamics(this); // add vehicleness |
146 | _mass = CalculateMass(); | 146 | _mass = CalculateMass(); |
147 | // do the actual object creation at taint time | 147 | // do the actual object creation at taint time |
148 | _scene.TaintedObject(delegate() | 148 | DetailLog("{0},BSPrim.constructor,call", LocalID); |
149 | _scene.TaintedObject("BSPrim.create", delegate() | ||
149 | { | 150 | { |
150 | RecreateGeomAndObject(); | 151 | RecreateGeomAndObject(); |
151 | 152 | ||
@@ -160,17 +161,22 @@ public sealed class BSPrim : PhysicsActor | |||
160 | public void Destroy() | 161 | public void Destroy() |
161 | { | 162 | { |
162 | // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); | 163 | // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); |
163 | // DetailLog("{0},Destroy", LocalID); | 164 | |
165 | // Undo any links between me and any other object | ||
166 | BSPrim parentBefore = _linkset.Root; | ||
167 | int childrenBefore = _linkset.NumberOfChildren; | ||
168 | |||
169 | _linkset = _linkset.RemoveMeFromLinkset(this); | ||
170 | |||
171 | DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", | ||
172 | LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren); | ||
164 | 173 | ||
165 | // Undo any vehicle properties | 174 | // Undo any vehicle properties |
166 | _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); | 175 | this.VehicleType = (int)Vehicle.TYPE_NONE; |
167 | _scene.RemoveVehiclePrim(this); // just to make sure | ||
168 | 176 | ||
169 | _scene.TaintedObject(delegate() | 177 | _scene.TaintedObject("BSPrim.destroy", delegate() |
170 | { | 178 | { |
171 | // Undo any links between me and any other object | 179 | DetailLog("{0},BSPrim.Destroy,taint,", LocalID); |
172 | _linkset = _linkset.RemoveMeFromLinkset(this); | ||
173 | |||
174 | // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. | 180 | // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. |
175 | BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); | 181 | BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); |
176 | }); | 182 | }); |
@@ -183,11 +189,11 @@ public sealed class BSPrim : PhysicsActor | |||
183 | get { return _size; } | 189 | get { return _size; } |
184 | set { | 190 | set { |
185 | _size = value; | 191 | _size = value; |
186 | _scene.TaintedObject(delegate() | 192 | _scene.TaintedObject("BSPrim.setSize", delegate() |
187 | { | 193 | { |
188 | _mass = CalculateMass(); // changing size changes the mass | 194 | _mass = CalculateMass(); // changing size changes the mass |
189 | BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); | 195 | BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); |
190 | // DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); | 196 | // DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); |
191 | RecreateGeomAndObject(); | 197 | RecreateGeomAndObject(); |
192 | }); | 198 | }); |
193 | } | 199 | } |
@@ -195,7 +201,7 @@ public sealed class BSPrim : PhysicsActor | |||
195 | public override PrimitiveBaseShape Shape { | 201 | public override PrimitiveBaseShape Shape { |
196 | set { | 202 | set { |
197 | _pbs = value; | 203 | _pbs = value; |
198 | _scene.TaintedObject(delegate() | 204 | _scene.TaintedObject("BSPrim.setShape", delegate() |
199 | { | 205 | { |
200 | _mass = CalculateMass(); // changing the shape changes the mass | 206 | _mass = CalculateMass(); // changing the shape changes the mass |
201 | RecreateGeomAndObject(); | 207 | RecreateGeomAndObject(); |
@@ -213,7 +219,7 @@ public sealed class BSPrim : PhysicsActor | |||
213 | public override bool Selected { | 219 | public override bool Selected { |
214 | set { | 220 | set { |
215 | _isSelected = value; | 221 | _isSelected = value; |
216 | _scene.TaintedObject(delegate() | 222 | _scene.TaintedObject("BSPrim.setSelected", delegate() |
217 | { | 223 | { |
218 | SetObjectDynamic(); | 224 | SetObjectDynamic(); |
219 | }); | 225 | }); |
@@ -224,10 +230,17 @@ public sealed class BSPrim : PhysicsActor | |||
224 | // link me to the specified parent | 230 | // link me to the specified parent |
225 | public override void link(PhysicsActor obj) { | 231 | public override void link(PhysicsActor obj) { |
226 | BSPrim parent = obj as BSPrim; | 232 | BSPrim parent = obj as BSPrim; |
227 | DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); | 233 | if (parent != null) |
228 | DetailLog("{0},link,parent={1}", LocalID, obj.LocalID); | 234 | { |
235 | DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID); | ||
236 | BSPrim parentBefore = _linkset.Root; | ||
237 | int childrenBefore = _linkset.NumberOfChildren; | ||
229 | 238 | ||
230 | _linkset = _linkset.AddMeToLinkset(this, parent); | 239 | _linkset = parent.Linkset.AddMeToLinkset(this); |
240 | |||
241 | DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", | ||
242 | LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren); | ||
243 | } | ||
231 | return; | 244 | return; |
232 | } | 245 | } |
233 | 246 | ||
@@ -237,9 +250,14 @@ public sealed class BSPrim : PhysicsActor | |||
237 | // Race condition here: if link() and delink() in same simulation tick, the delink will not happen | 250 | // Race condition here: if link() and delink() in same simulation tick, the delink will not happen |
238 | DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, | 251 | DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, |
239 | _linkset.Root._avName+"/"+_linkset.Root.LocalID.ToString()); | 252 | _linkset.Root._avName+"/"+_linkset.Root.LocalID.ToString()); |
240 | DetailLog("{0},delink,parent={1}", LocalID, _linkset.Root.LocalID.ToString()); | ||
241 | 253 | ||
242 | _linkset.RemoveMeFromLinkset(this); | 254 | BSPrim parentBefore = _linkset.Root; |
255 | int childrenBefore = _linkset.NumberOfChildren; | ||
256 | |||
257 | _linkset = _linkset.RemoveMeFromLinkset(this); | ||
258 | |||
259 | DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", | ||
260 | LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren); | ||
243 | return; | 261 | return; |
244 | } | 262 | } |
245 | 263 | ||
@@ -262,7 +280,7 @@ public sealed class BSPrim : PhysicsActor | |||
262 | 280 | ||
263 | public override void LockAngularMotion(OMV.Vector3 axis) | 281 | public override void LockAngularMotion(OMV.Vector3 axis) |
264 | { | 282 | { |
265 | DetailLog("{0},LockAngularMotion,call,axis={1}", LocalID, axis); | 283 | DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); |
266 | return; | 284 | return; |
267 | } | 285 | } |
268 | 286 | ||
@@ -279,9 +297,9 @@ public sealed class BSPrim : PhysicsActor | |||
279 | set { | 297 | set { |
280 | _position = value; | 298 | _position = value; |
281 | // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? | 299 | // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? |
282 | _scene.TaintedObject(delegate() | 300 | _scene.TaintedObject("BSPrim.setPosition", delegate() |
283 | { | 301 | { |
284 | DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 302 | DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
285 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); | 303 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); |
286 | }); | 304 | }); |
287 | } | 305 | } |
@@ -316,9 +334,9 @@ public sealed class BSPrim : PhysicsActor | |||
316 | get { return _force; } | 334 | get { return _force; } |
317 | set { | 335 | set { |
318 | _force = value; | 336 | _force = value; |
319 | _scene.TaintedObject(delegate() | 337 | _scene.TaintedObject("BSPrim.setForce", delegate() |
320 | { | 338 | { |
321 | DetailLog("{0},setForce,taint,force={1}", LocalID, _force); | 339 | DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); |
322 | // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); | 340 | // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); |
323 | BulletSimAPI.SetObjectForce2(Body.Ptr, _force); | 341 | BulletSimAPI.SetObjectForce2(Body.Ptr, _force); |
324 | }); | 342 | }); |
@@ -331,53 +349,41 @@ public sealed class BSPrim : PhysicsActor | |||
331 | } | 349 | } |
332 | set { | 350 | set { |
333 | Vehicle type = (Vehicle)value; | 351 | Vehicle type = (Vehicle)value; |
334 | _scene.TaintedObject(delegate() | 352 | BSPrim vehiclePrim = this; |
353 | _scene.TaintedObject("setVehicleType", delegate() | ||
335 | { | 354 | { |
336 | DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type); | 355 | // Done at taint time so we're sure the physics engine is not using the variables |
356 | // Vehicle code changes the parameters for this vehicle type. | ||
337 | _vehicle.ProcessTypeChange(type); | 357 | _vehicle.ProcessTypeChange(type); |
338 | if (type == Vehicle.TYPE_NONE) | 358 | // Tell the scene about the vehicle so it will get processing each frame. |
339 | { | 359 | _scene.VehicleInSceneTypeChanged(this, type); |
340 | _scene.RemoveVehiclePrim(this); | ||
341 | } | ||
342 | else | ||
343 | { | ||
344 | _scene.TaintedObject(delegate() | ||
345 | { | ||
346 | // Tell the physics engine to clear state | ||
347 | BulletSimAPI.ClearForces2(this.Body.Ptr); | ||
348 | }); | ||
349 | |||
350 | // make it so the scene will call us each tick to do vehicle things | ||
351 | _scene.AddVehiclePrim(this); | ||
352 | } | ||
353 | return; | ||
354 | }); | 360 | }); |
355 | } | 361 | } |
356 | } | 362 | } |
357 | public override void VehicleFloatParam(int param, float value) | 363 | public override void VehicleFloatParam(int param, float value) |
358 | { | 364 | { |
359 | _scene.TaintedObject(delegate() | 365 | _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate() |
360 | { | 366 | { |
361 | _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); | 367 | _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); |
362 | }); | 368 | }); |
363 | } | 369 | } |
364 | public override void VehicleVectorParam(int param, OMV.Vector3 value) | 370 | public override void VehicleVectorParam(int param, OMV.Vector3 value) |
365 | { | 371 | { |
366 | _scene.TaintedObject(delegate() | 372 | _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate() |
367 | { | 373 | { |
368 | _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); | 374 | _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); |
369 | }); | 375 | }); |
370 | } | 376 | } |
371 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) | 377 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) |
372 | { | 378 | { |
373 | _scene.TaintedObject(delegate() | 379 | _scene.TaintedObject("BSPrim.VehicleRotationParam", delegate() |
374 | { | 380 | { |
375 | _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); | 381 | _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); |
376 | }); | 382 | }); |
377 | } | 383 | } |
378 | public override void VehicleFlags(int param, bool remove) | 384 | public override void VehicleFlags(int param, bool remove) |
379 | { | 385 | { |
380 | _scene.TaintedObject(delegate() | 386 | _scene.TaintedObject("BSPrim.VehicleFlags", delegate() |
381 | { | 387 | { |
382 | _vehicle.ProcessVehicleFlags(param, remove); | 388 | _vehicle.ProcessVehicleFlags(param, remove); |
383 | }); | 389 | }); |
@@ -395,7 +401,7 @@ public sealed class BSPrim : PhysicsActor | |||
395 | public override void SetVolumeDetect(int param) { | 401 | public override void SetVolumeDetect(int param) { |
396 | bool newValue = (param != 0); | 402 | bool newValue = (param != 0); |
397 | _isVolumeDetect = newValue; | 403 | _isVolumeDetect = newValue; |
398 | _scene.TaintedObject(delegate() | 404 | _scene.TaintedObject("BSPrim.SetVolumeDetect", delegate() |
399 | { | 405 | { |
400 | SetObjectDynamic(); | 406 | SetObjectDynamic(); |
401 | }); | 407 | }); |
@@ -406,9 +412,9 @@ public sealed class BSPrim : PhysicsActor | |||
406 | get { return _velocity; } | 412 | get { return _velocity; } |
407 | set { | 413 | set { |
408 | _velocity = value; | 414 | _velocity = value; |
409 | _scene.TaintedObject(delegate() | 415 | _scene.TaintedObject("BSPrim.setVelocity", delegate() |
410 | { | 416 | { |
411 | DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity); | 417 | DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); |
412 | BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); | 418 | BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); |
413 | }); | 419 | }); |
414 | } | 420 | } |
@@ -416,7 +422,7 @@ public sealed class BSPrim : PhysicsActor | |||
416 | public override OMV.Vector3 Torque { | 422 | public override OMV.Vector3 Torque { |
417 | get { return _torque; } | 423 | get { return _torque; } |
418 | set { _torque = value; | 424 | set { _torque = value; |
419 | DetailLog("{0},SetTorque,call,torque={1}", LocalID, _torque); | 425 | DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); |
420 | } | 426 | } |
421 | } | 427 | } |
422 | public override float CollisionScore { | 428 | public override float CollisionScore { |
@@ -440,10 +446,10 @@ public sealed class BSPrim : PhysicsActor | |||
440 | set { | 446 | set { |
441 | _orientation = value; | 447 | _orientation = value; |
442 | // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? | 448 | // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? |
443 | _scene.TaintedObject(delegate() | 449 | _scene.TaintedObject("BSPrim.setOrientation", delegate() |
444 | { | 450 | { |
445 | // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); | 451 | // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); |
446 | DetailLog("{0},setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 452 | DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
447 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); | 453 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); |
448 | }); | 454 | }); |
449 | } | 455 | } |
@@ -457,7 +463,7 @@ public sealed class BSPrim : PhysicsActor | |||
457 | get { return _isPhysical; } | 463 | get { return _isPhysical; } |
458 | set { | 464 | set { |
459 | _isPhysical = value; | 465 | _isPhysical = value; |
460 | _scene.TaintedObject(delegate() | 466 | _scene.TaintedObject("BSPrim.setIsPhysical", delegate() |
461 | { | 467 | { |
462 | SetObjectDynamic(); | 468 | SetObjectDynamic(); |
463 | }); | 469 | }); |
@@ -478,7 +484,6 @@ public sealed class BSPrim : PhysicsActor | |||
478 | 484 | ||
479 | // Make gravity work if the object is physical and not selected | 485 | // Make gravity work if the object is physical and not selected |
480 | // No locking here because only called when it is safe | 486 | // 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() | 487 | private void SetObjectDynamic() |
483 | { | 488 | { |
484 | // RA: remove this for the moment. | 489 | // RA: remove this for the moment. |
@@ -490,8 +495,10 @@ public sealed class BSPrim : PhysicsActor | |||
490 | // Bullet wants static objects to have a mass of zero | 495 | // Bullet wants static objects to have a mass of zero |
491 | float mass = IsStatic ? 0f : _mass; | 496 | float mass = IsStatic ? 0f : _mass; |
492 | 497 | ||
493 | DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass); | ||
494 | BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); | 498 | BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); |
499 | |||
500 | CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); | ||
501 | DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); | ||
495 | } | 502 | } |
496 | 503 | ||
497 | // prims don't fly | 504 | // prims don't fly |
@@ -546,9 +553,9 @@ public sealed class BSPrim : PhysicsActor | |||
546 | set { | 553 | set { |
547 | _rotationalVelocity = value; | 554 | _rotationalVelocity = value; |
548 | // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); | 555 | // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); |
549 | _scene.TaintedObject(delegate() | 556 | _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate() |
550 | { | 557 | { |
551 | DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); | 558 | DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); |
552 | BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); | 559 | BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); |
553 | }); | 560 | }); |
554 | } | 561 | } |
@@ -563,9 +570,9 @@ public sealed class BSPrim : PhysicsActor | |||
563 | get { return _buoyancy; } | 570 | get { return _buoyancy; } |
564 | set { | 571 | set { |
565 | _buoyancy = value; | 572 | _buoyancy = value; |
566 | _scene.TaintedObject(delegate() | 573 | _scene.TaintedObject("BSPrim.setBuoyancy", delegate() |
567 | { | 574 | { |
568 | DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); | 575 | DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); |
569 | BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); | 576 | BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); |
570 | }); | 577 | }); |
571 | } | 578 | } |
@@ -617,7 +624,7 @@ public sealed class BSPrim : PhysicsActor | |||
617 | m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); | 624 | m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); |
618 | return; | 625 | return; |
619 | } | 626 | } |
620 | _scene.TaintedObject(delegate() | 627 | _scene.TaintedObject("BSPrim.AddForce", delegate() |
621 | { | 628 | { |
622 | OMV.Vector3 fSum = OMV.Vector3.Zero; | 629 | OMV.Vector3 fSum = OMV.Vector3.Zero; |
623 | lock (m_accumulatedForces) | 630 | lock (m_accumulatedForces) |
@@ -628,17 +635,17 @@ public sealed class BSPrim : PhysicsActor | |||
628 | } | 635 | } |
629 | m_accumulatedForces.Clear(); | 636 | m_accumulatedForces.Clear(); |
630 | } | 637 | } |
631 | DetailLog("{0},AddObjectForce,taint,force={1}", LocalID, _force); | 638 | DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); |
632 | BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); | 639 | BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); |
633 | }); | 640 | }); |
634 | } | 641 | } |
635 | 642 | ||
636 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { | 643 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { |
637 | DetailLog("{0},AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); | 644 | DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); |
638 | // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); | 645 | // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); |
639 | } | 646 | } |
640 | public override void SetMomentum(OMV.Vector3 momentum) { | 647 | public override void SetMomentum(OMV.Vector3 momentum) { |
641 | DetailLog("{0},SetMomentum,call,mom={1}", LocalID, momentum); | 648 | DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); |
642 | } | 649 | } |
643 | public override void SubscribeEvents(int ms) { | 650 | public override void SubscribeEvents(int ms) { |
644 | _subscribedEventsMs = ms; | 651 | _subscribedEventsMs = ms; |
@@ -647,7 +654,7 @@ public sealed class BSPrim : PhysicsActor | |||
647 | // make sure first collision happens | 654 | // make sure first collision happens |
648 | _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; | 655 | _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; |
649 | 656 | ||
650 | Scene.TaintedObject(delegate() | 657 | Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() |
651 | { | 658 | { |
652 | BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 659 | BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
653 | }); | 660 | }); |
@@ -655,7 +662,7 @@ public sealed class BSPrim : PhysicsActor | |||
655 | } | 662 | } |
656 | public override void UnSubscribeEvents() { | 663 | public override void UnSubscribeEvents() { |
657 | _subscribedEventsMs = 0; | 664 | _subscribedEventsMs = 0; |
658 | Scene.TaintedObject(delegate() | 665 | Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() |
659 | { | 666 | { |
660 | BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 667 | BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
661 | }); | 668 | }); |
@@ -982,7 +989,7 @@ public sealed class BSPrim : PhysicsActor | |||
982 | // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); | 989 | // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); |
983 | if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) | 990 | if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) |
984 | { | 991 | { |
985 | DetailLog("{0},CreateGeom,sphere", LocalID); | 992 | DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild); |
986 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; | 993 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; |
987 | // Bullet native objects are scaled by the Bullet engine so pass the size in | 994 | // Bullet native objects are scaled by the Bullet engine so pass the size in |
988 | _scale = _size; | 995 | _scale = _size; |
@@ -996,7 +1003,7 @@ public sealed class BSPrim : PhysicsActor | |||
996 | // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); | 1003 | // 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)) | 1004 | if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) |
998 | { | 1005 | { |
999 | DetailLog("{0},CreateGeom,box", LocalID); | 1006 | DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild); |
1000 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; | 1007 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; |
1001 | _scale = _size; | 1008 | _scale = _size; |
1002 | // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? | 1009 | // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? |
@@ -1039,12 +1046,12 @@ public sealed class BSPrim : PhysicsActor | |||
1039 | // if this new shape is the same as last time, don't recreate the mesh | 1046 | // if this new shape is the same as last time, don't recreate the mesh |
1040 | if (_meshKey == newMeshKey) return; | 1047 | if (_meshKey == newMeshKey) return; |
1041 | 1048 | ||
1042 | DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, newMeshKey); | 1049 | DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey); |
1043 | // Since we're recreating new, get rid of any previously generated shape | 1050 | // Since we're recreating new, get rid of any previously generated shape |
1044 | if (_meshKey != 0) | 1051 | if (_meshKey != 0) |
1045 | { | 1052 | { |
1046 | // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey); | 1053 | // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey); |
1047 | DetailLog("{0},CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey); | 1054 | DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey); |
1048 | BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); | 1055 | BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); |
1049 | _mesh = null; | 1056 | _mesh = null; |
1050 | _meshKey = 0; | 1057 | _meshKey = 0; |
@@ -1074,7 +1081,7 @@ public sealed class BSPrim : PhysicsActor | |||
1074 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; | 1081 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; |
1075 | // meshes are already scaled by the meshmerizer | 1082 | // meshes are already scaled by the meshmerizer |
1076 | _scale = new OMV.Vector3(1f, 1f, 1f); | 1083 | _scale = new OMV.Vector3(1f, 1f, 1f); |
1077 | DetailLog("{0},CreateGeomMesh,done", LocalID); | 1084 | DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID); |
1078 | return; | 1085 | return; |
1079 | } | 1086 | } |
1080 | 1087 | ||
@@ -1088,17 +1095,17 @@ public sealed class BSPrim : PhysicsActor | |||
1088 | // if the hull hasn't changed, don't rebuild it | 1095 | // if the hull hasn't changed, don't rebuild it |
1089 | if (newHullKey == _hullKey) return; | 1096 | if (newHullKey == _hullKey) return; |
1090 | 1097 | ||
1091 | DetailLog("{0},CreateGeomHull,create,key={1}", LocalID, _meshKey); | 1098 | DetailLog("{0},BSPrim.CreateGeomHull,create,key={1}", LocalID, _meshKey); |
1092 | 1099 | ||
1093 | // Since we're recreating new, get rid of any previously generated shape | 1100 | // Since we're recreating new, get rid of any previously generated shape |
1094 | if (_hullKey != 0) | 1101 | if (_hullKey != 0) |
1095 | { | 1102 | { |
1096 | // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); | 1103 | // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); |
1097 | DetailLog("{0},CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey); | 1104 | DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey); |
1098 | BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); | 1105 | BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); |
1099 | _hullKey = 0; | 1106 | _hullKey = 0; |
1100 | _hulls.Clear(); | 1107 | _hulls.Clear(); |
1101 | DetailLog("{0},CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey); | 1108 | DetailLog("{0},BSPrim.CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey); |
1102 | BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); | 1109 | BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); |
1103 | _mesh = null; // the mesh cannot match either | 1110 | _mesh = null; // the mesh cannot match either |
1104 | _meshKey = 0; | 1111 | _meshKey = 0; |
@@ -1195,7 +1202,7 @@ public sealed class BSPrim : PhysicsActor | |||
1195 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; | 1202 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; |
1196 | // meshes are already scaled by the meshmerizer | 1203 | // meshes are already scaled by the meshmerizer |
1197 | _scale = new OMV.Vector3(1f, 1f, 1f); | 1204 | _scale = new OMV.Vector3(1f, 1f, 1f); |
1198 | DetailLog("{0},CreateGeomHull,done", LocalID); | 1205 | DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID); |
1199 | return; | 1206 | return; |
1200 | } | 1207 | } |
1201 | 1208 | ||
@@ -1221,7 +1228,7 @@ public sealed class BSPrim : PhysicsActor | |||
1221 | bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); | 1228 | bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); |
1222 | 1229 | ||
1223 | // the CreateObject() may have recreated the rigid body. Make sure we have the latest. | 1230 | // the CreateObject() may have recreated the rigid body. Make sure we have the latest. |
1224 | m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID); | 1231 | Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); |
1225 | 1232 | ||
1226 | return ret; | 1233 | return ret; |
1227 | } | 1234 | } |
@@ -1333,20 +1340,18 @@ public sealed class BSPrim : PhysicsActor | |||
1333 | 1340 | ||
1334 | // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", | 1341 | // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", |
1335 | // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); | 1342 | // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); |
1336 | DetailLog("{0},UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", | 1343 | DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", |
1337 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); | 1344 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); |
1338 | 1345 | ||
1339 | base.RequestPhysicsterseUpdate(); | 1346 | base.RequestPhysicsterseUpdate(); |
1340 | } | 1347 | } |
1341 | /* | ||
1342 | else | 1348 | else |
1343 | { | 1349 | { |
1344 | // For debugging, we also report the movement of children | 1350 | // For debugging, we also report the movement of children |
1345 | DetailLog("{0},UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", | 1351 | DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", |
1346 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, | 1352 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, |
1347 | entprop.Acceleration, entprop.RotationalVelocity); | 1353 | entprop.Acceleration, entprop.RotationalVelocity); |
1348 | } | 1354 | } |
1349 | */ | ||
1350 | } | 1355 | } |
1351 | 1356 | ||
1352 | // I've collided with something | 1357 | // I've collided with something |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 0e257b6..beaea1f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -73,7 +73,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
73 | private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); | 73 | private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); |
74 | private static readonly string LogHeader = "[BULLETS SCENE]"; | 74 | private static readonly string LogHeader = "[BULLETS SCENE]"; |
75 | 75 | ||
76 | public void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); } | 76 | public void DebugLog(string mm, params Object[] xx) { if (ShouldDebugLog) m_log.DebugFormat(mm, xx); } |
77 | 77 | ||
78 | public string BulletSimVersion = "?"; | 78 | public string BulletSimVersion = "?"; |
79 | 79 | ||
@@ -162,14 +162,24 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
162 | } | 162 | } |
163 | 163 | ||
164 | public delegate void TaintCallback(); | 164 | public delegate void TaintCallback(); |
165 | private List<TaintCallback> _taintedObjects; | 165 | private struct TaintCallbackEntry |
166 | { | ||
167 | public String ident; | ||
168 | public TaintCallback callback; | ||
169 | public TaintCallbackEntry(string i, TaintCallback c) | ||
170 | { | ||
171 | ident = i; | ||
172 | callback = c; | ||
173 | } | ||
174 | } | ||
175 | private List<TaintCallbackEntry> _taintedObjects; | ||
166 | private Object _taintLock = new Object(); | 176 | private Object _taintLock = new Object(); |
167 | 177 | ||
168 | // A pointer to an instance if this structure is passed to the C++ code | 178 | // A pointer to an instance if this structure is passed to the C++ code |
169 | ConfigurationParameters[] m_params; | 179 | ConfigurationParameters[] m_params; |
170 | GCHandle m_paramsHandle; | 180 | GCHandle m_paramsHandle; |
171 | 181 | ||
172 | public bool shouldDebugLog { get; private set; } | 182 | public bool ShouldDebugLog { get; private set; } |
173 | 183 | ||
174 | private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; | 184 | private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; |
175 | 185 | ||
@@ -232,7 +242,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
232 | BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); | 242 | BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); |
233 | } | 243 | } |
234 | 244 | ||
235 | _taintedObjects = new List<TaintCallback>(); | 245 | _taintedObjects = new List<TaintCallbackEntry>(); |
236 | 246 | ||
237 | mesher = meshmerizer; | 247 | mesher = meshmerizer; |
238 | // The bounding box for the simulated world | 248 | // The bounding box for the simulated world |
@@ -245,7 +255,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
245 | 255 | ||
246 | // Initialization to support the transition to a new API which puts most of the logic | 256 | // Initialization to support the transition to a new API which puts most of the logic |
247 | // into the C# code so it is easier to modify and add to. | 257 | // into the C# code so it is easier to modify and add to. |
248 | m_worldSim = new BulletSim(m_worldID, BulletSimAPI.GetSimHandle2(m_worldID)); | 258 | m_worldSim = new BulletSim(m_worldID, this, BulletSimAPI.GetSimHandle2(m_worldID)); |
249 | m_constraintCollection = new BSConstraintCollection(World); | 259 | m_constraintCollection = new BSConstraintCollection(World); |
250 | 260 | ||
251 | m_initialized = true; | 261 | m_initialized = true; |
@@ -352,6 +362,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
352 | BSPrim bsprim = prim as BSPrim; | 362 | BSPrim bsprim = prim as BSPrim; |
353 | if (bsprim != null) | 363 | if (bsprim != null) |
354 | { | 364 | { |
365 | DetailLog("{0},RemovePrim,call", bsprim.LocalID); | ||
355 | // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); | 366 | // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); |
356 | try | 367 | try |
357 | { | 368 | { |
@@ -377,6 +388,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
377 | 388 | ||
378 | if (!m_initialized) return null; | 389 | if (!m_initialized) return null; |
379 | 390 | ||
391 | DetailLog("{0},AddPrimShape,call", localID); | ||
392 | |||
380 | BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); | 393 | BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); |
381 | lock (m_prims) m_prims.Add(localID, prim); | 394 | lock (m_prims) m_prims.Add(localID, prim); |
382 | return prim; | 395 | return prim; |
@@ -416,12 +429,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
416 | { | 429 | { |
417 | numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, | 430 | numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, |
418 | out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); | 431 | out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); |
419 | DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", "0000000000", numSubSteps, updatedEntityCount, collidersCount); | 432 | DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); |
420 | } | 433 | } |
421 | catch (Exception e) | 434 | catch (Exception e) |
422 | { | 435 | { |
423 | m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e); | 436 | m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e); |
424 | DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", "0000000000", numSubSteps, updatedEntityCount, collidersCount); | 437 | DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); |
425 | // updatedEntityCount = 0; | 438 | // updatedEntityCount = 0; |
426 | collidersCount = 0; | 439 | collidersCount = 0; |
427 | } | 440 | } |
@@ -535,7 +548,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
535 | 548 | ||
536 | public override void SetTerrain(float[] heightMap) { | 549 | public override void SetTerrain(float[] heightMap) { |
537 | m_heightMap = heightMap; | 550 | m_heightMap = heightMap; |
538 | this.TaintedObject(delegate() | 551 | this.TaintedObject("BSScene.SetTerrain", delegate() |
539 | { | 552 | { |
540 | BulletSimAPI.SetHeightmap(m_worldID, m_heightMap); | 553 | BulletSimAPI.SetHeightmap(m_worldID, m_heightMap); |
541 | }); | 554 | }); |
@@ -727,12 +740,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
727 | // Calls to the PhysicsActors can't directly call into the physics engine | 740 | // Calls to the PhysicsActors can't directly call into the physics engine |
728 | // because it might be busy. We delay changes to a known time. | 741 | // because it might be busy. We delay changes to a known time. |
729 | // We rely on C#'s closure to save and restore the context for the delegate. | 742 | // We rely on C#'s closure to save and restore the context for the delegate. |
730 | public void TaintedObject(TaintCallback callback) | 743 | public void TaintedObject(String ident, TaintCallback callback) |
731 | { | 744 | { |
732 | if (!m_initialized) return; | 745 | if (!m_initialized) return; |
733 | 746 | ||
734 | lock (_taintLock) | 747 | lock (_taintLock) |
735 | _taintedObjects.Add(callback); | 748 | _taintedObjects.Add(new TaintCallbackEntry(ident, callback)); |
736 | return; | 749 | return; |
737 | } | 750 | } |
738 | 751 | ||
@@ -744,22 +757,22 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
744 | if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process | 757 | if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process |
745 | { | 758 | { |
746 | // swizzle a new list into the list location so we can process what's there | 759 | // swizzle a new list into the list location so we can process what's there |
747 | List<TaintCallback> oldList; | 760 | List<TaintCallbackEntry> oldList; |
748 | lock (_taintLock) | 761 | lock (_taintLock) |
749 | { | 762 | { |
750 | oldList = _taintedObjects; | 763 | oldList = _taintedObjects; |
751 | _taintedObjects = new List<TaintCallback>(); | 764 | _taintedObjects = new List<TaintCallbackEntry>(); |
752 | } | 765 | } |
753 | 766 | ||
754 | foreach (TaintCallback callback in oldList) | 767 | foreach (TaintCallbackEntry tcbe in oldList) |
755 | { | 768 | { |
756 | try | 769 | try |
757 | { | 770 | { |
758 | callback(); | 771 | tcbe.callback(); |
759 | } | 772 | } |
760 | catch (Exception e) | 773 | catch (Exception e) |
761 | { | 774 | { |
762 | m_log.ErrorFormat("{0}: ProcessTaints: Exception: {1}", LogHeader, e); | 775 | m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e); |
763 | } | 776 | } |
764 | } | 777 | } |
765 | oldList.Clear(); | 778 | oldList.Clear(); |
@@ -767,6 +780,20 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
767 | } | 780 | } |
768 | 781 | ||
769 | #region Vehicles | 782 | #region Vehicles |
783 | |||
784 | public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType) | ||
785 | { | ||
786 | if (newType == Vehicle.TYPE_NONE) | ||
787 | { | ||
788 | RemoveVehiclePrim(vehic); | ||
789 | } | ||
790 | else | ||
791 | { | ||
792 | // make it so the scene will call us each tick to do vehicle things | ||
793 | AddVehiclePrim(vehic); | ||
794 | } | ||
795 | } | ||
796 | |||
770 | // Make so the scene will call this prim for vehicle actions each tick. | 797 | // Make so the scene will call this prim for vehicle actions each tick. |
771 | // Safe to call if prim is already in the vehicle list. | 798 | // Safe to call if prim is already in the vehicle list. |
772 | public void AddVehiclePrim(BSPrim vehicle) | 799 | public void AddVehiclePrim(BSPrim vehicle) |
@@ -812,12 +839,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
812 | 839 | ||
813 | private struct ParameterDefn | 840 | private struct ParameterDefn |
814 | { | 841 | { |
815 | public string name; | 842 | public string name; // string name of the parameter |
816 | public string desc; | 843 | public string desc; // a short description of what the parameter means |
817 | public float defaultValue; | 844 | public float defaultValue; // default value if not specified anywhere else |
818 | public ParamUser userParam; | 845 | public ParamUser userParam; // get the value from the configuration file |
819 | public ParamGet getter; | 846 | public ParamGet getter; // return the current value stored for this parameter |
820 | public ParamSet setter; | 847 | public ParamSet setter; // set the current value for this parameter |
821 | public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) | 848 | public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) |
822 | { | 849 | { |
823 | name = n; | 850 | name = n; |
@@ -834,7 +861,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
834 | // To add a new externally referencable/settable parameter, add the paramter storage | 861 | // To add a new externally referencable/settable parameter, add the paramter storage |
835 | // location somewhere in the program and make an entry in this table with the | 862 | // location somewhere in the program and make an entry in this table with the |
836 | // getters and setters. | 863 | // getters and setters. |
837 | // To add a new variable, it is easiest to find an existing definition and copy it. | 864 | // It is easiest to find an existing definition and copy it. |
838 | // Parameter values are floats. Booleans are converted to a floating value. | 865 | // Parameter values are floats. Booleans are converted to a floating value. |
839 | // | 866 | // |
840 | // A ParameterDefn() takes the following parameters: | 867 | // A ParameterDefn() takes the following parameters: |
@@ -870,7 +897,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
870 | (s) => { return (float)s.m_meshLOD; }, | 897 | (s) => { return (float)s.m_meshLOD; }, |
871 | (s,p,l,v) => { s.m_meshLOD = (int)v; } ), | 898 | (s,p,l,v) => { s.m_meshLOD = (int)v; } ), |
872 | new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", | 899 | new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", |
873 | 32, | 900 | 32f, |
874 | (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); }, | 901 | (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); }, |
875 | (s) => { return (float)s.m_sculptLOD; }, | 902 | (s) => { return (float)s.m_sculptLOD; }, |
876 | (s,p,l,v) => { s.m_sculptLOD = (int)v; } ), | 903 | (s,p,l,v) => { s.m_sculptLOD = (int)v; } ), |
@@ -1106,9 +1133,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1106 | (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), | 1133 | (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), |
1107 | new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements", | 1134 | new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements", |
1108 | ConfigurationParameters.numericFalse, | 1135 | ConfigurationParameters.numericFalse, |
1109 | (s,cf,p,v) => { s.shouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); }, | 1136 | (s,cf,p,v) => { s.ShouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); }, |
1110 | (s) => { return s.NumericBool(s.shouldDebugLog); }, | 1137 | (s) => { return s.NumericBool(s.ShouldDebugLog); }, |
1111 | (s,p,l,v) => { s.shouldDebugLog = s.BoolNumeric(v); } ), | 1138 | (s,p,l,v) => { s.ShouldDebugLog = s.BoolNumeric(v); } ), |
1112 | 1139 | ||
1113 | }; | 1140 | }; |
1114 | 1141 | ||
@@ -1248,7 +1275,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1248 | List<uint> objectIDs = lIDs; | 1275 | List<uint> objectIDs = lIDs; |
1249 | string xparm = parm.ToLower(); | 1276 | string xparm = parm.ToLower(); |
1250 | float xval = val; | 1277 | float xval = val; |
1251 | TaintedObject(delegate() { | 1278 | TaintedObject("BSScene.UpdateParameterSet", delegate() { |
1252 | foreach (uint lID in objectIDs) | 1279 | foreach (uint lID in objectIDs) |
1253 | { | 1280 | { |
1254 | BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval); | 1281 | BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval); |
@@ -1268,7 +1295,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1268 | uint xlocalID = localID; | 1295 | uint xlocalID = localID; |
1269 | string xparm = parm.ToLower(); | 1296 | string xparm = parm.ToLower(); |
1270 | float xval = val; | 1297 | float xval = val; |
1271 | TaintedObject(delegate() { | 1298 | TaintedObject("BSScene.TaintedUpdateParameter", delegate() { |
1272 | BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval); | 1299 | BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval); |
1273 | }); | 1300 | }); |
1274 | } | 1301 | } |
@@ -1294,10 +1321,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1294 | #endregion Runtime settable parameters | 1321 | #endregion Runtime settable parameters |
1295 | 1322 | ||
1296 | // Invoke the detailed logger and output something if it's enabled. | 1323 | // Invoke the detailed logger and output something if it's enabled. |
1297 | private void DetailLog(string msg, params Object[] args) | 1324 | public void DetailLog(string msg, params Object[] args) |
1298 | { | 1325 | { |
1299 | PhysicsLogging.Write(msg, args); | 1326 | PhysicsLogging.Write(msg, args); |
1300 | } | 1327 | } |
1328 | // used to fill in the LocalID when there isn't one | ||
1329 | public const string DetailLogZero = "0000000000"; | ||
1301 | 1330 | ||
1302 | } | 1331 | } |
1303 | } | 1332 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 86fc9d2..6800b96 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -35,9 +35,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin { | |||
35 | // Classes to allow some type checking for the API | 35 | // Classes to allow some type checking for the API |
36 | public struct BulletSim | 36 | public struct BulletSim |
37 | { | 37 | { |
38 | public BulletSim(uint id, IntPtr xx) { ID = id; Ptr = xx; } | 38 | public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; } |
39 | public IntPtr Ptr; | ||
40 | public uint ID; | 39 | public uint ID; |
40 | // The scene is only in here so very low level routines have a handle to print debug/error messages | ||
41 | public BSScene scene; | ||
42 | public IntPtr Ptr; | ||
41 | } | 43 | } |
42 | 44 | ||
43 | public struct BulletBody | 45 | public struct BulletBody |
@@ -363,7 +365,7 @@ public static extern IntPtr GetSimHandle2(uint worldID); | |||
363 | public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); | 365 | public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); |
364 | 366 | ||
365 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 367 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
366 | public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); | 368 | public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); |
367 | 369 | ||
368 | // =============================================================================== | 370 | // =============================================================================== |
369 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 371 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -372,40 +374,43 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, | |||
372 | int maxUpdates, IntPtr updateArray); | 374 | int maxUpdates, IntPtr updateArray); |
373 | 375 | ||
374 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 376 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
375 | public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value); | 377 | public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); |
376 | 378 | ||
377 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 379 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
378 | public static extern void SetHeightmap2(IntPtr sim, float[] heightmap); | 380 | public static extern void SetHeightmap2(IntPtr world, float[] heightmap); |
379 | 381 | ||
380 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 382 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
381 | public static extern void Shutdown2(IntPtr sim); | 383 | public static extern void Shutdown2(IntPtr sim); |
382 | 384 | ||
383 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 385 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
384 | public static extern int PhysicsStep2(IntPtr sim, float timeStep, int maxSubSteps, float fixedTimeStep, | 386 | public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, |
385 | out int updatedEntityCount, | 387 | out int updatedEntityCount, |
386 | out IntPtr updatedEntitiesPtr, | 388 | out IntPtr updatedEntitiesPtr, |
387 | out int collidersCount, | 389 | out int collidersCount, |
388 | out IntPtr collidersPtr); | 390 | out IntPtr collidersPtr); |
389 | 391 | ||
392 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
393 | public static extern bool PushUpdate2(IntPtr obj); | ||
394 | |||
390 | /* | 395 | /* |
391 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 396 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
392 | public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices ); | 397 | public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices ); |
393 | 398 | ||
394 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 399 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
395 | public static extern bool BuildHull2(IntPtr sim, IntPtr mesh); | 400 | public static extern bool BuildHull2(IntPtr world, IntPtr mesh); |
396 | 401 | ||
397 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 402 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
398 | public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh); | 403 | public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh); |
399 | 404 | ||
400 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 405 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
401 | public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh); | 406 | public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh); |
402 | 407 | ||
403 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 408 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
404 | public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); | 409 | public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData); |
405 | */ | 410 | */ |
406 | 411 | ||
407 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 412 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
408 | public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, | 413 | public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, |
409 | Vector3 frame1loc, Quaternion frame1rot, | 414 | Vector3 frame1loc, Quaternion frame1rot, |
410 | Vector3 frame2loc, Quaternion frame2rot, | 415 | Vector3 frame2loc, Quaternion frame2rot, |
411 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); | 416 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); |
@@ -429,7 +434,13 @@ public static extern bool CalculateTransforms2(IntPtr constrain); | |||
429 | public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); | 434 | public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); |
430 | 435 | ||
431 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 436 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
432 | public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); | 437 | public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); |
438 | |||
439 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
440 | public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj); | ||
441 | |||
442 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
443 | public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj); | ||
433 | 444 | ||
434 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 445 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
435 | public static extern Vector3 GetPosition2(IntPtr obj); | 446 | public static extern Vector3 GetPosition2(IntPtr obj); |
@@ -483,6 +494,9 @@ public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); | |||
483 | public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); | 494 | public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); |
484 | 495 | ||
485 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 496 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
497 | public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); | ||
498 | |||
499 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
486 | public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags); | 500 | public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags); |
487 | 501 | ||
488 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 502 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -510,12 +524,6 @@ public static extern bool SetMargin2(IntPtr obj, float val); | |||
510 | public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); | 524 | public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); |
511 | 525 | ||
512 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 526 | [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); | 527 | public static extern bool DestroyObject2(IntPtr world, uint id); |
520 | 528 | ||
521 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 529 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |