BulletSim: cosmetic changes (comments and renaming). Give mass to terrain to improve interactions.

7 files changed, 74 insertions, 52 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index c23ccd5..2e6b2da 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -263,7 +263,7 @@ public class BSCharacter : BSPhysObject
     // A version of the sanity check that also makes sure a new position value is
     //    pushed back to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool atTaintTime)
+    private bool PositionSanityCheck2(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -275,7 +275,7 @@ public class BSCharacter : BSPhysObject
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
             };
-            if (atTaintTime)
+            if (inTaintTime)
                 sanityOperation();
             else
                 PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 20db4de..b84ccdc 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -160,6 +160,31 @@ public class BSLinkset
         return ret;
     }
 
+    // When physical properties are changed the linkset needs to recalculate
+    //   its internal properties.
+    // May be called at runtime or taint-time (just pass the appropriate flag).
+    public void Refresh(BSPhysObject requestor, bool inTaintTime)
+    {
+        // If there are no children, there can't be any constraints to recompute
+        if (!HasAnyChildren)
+            return;
+
+        // Only the root does the recomputation
+        if (IsRoot(requestor))
+        {
+        BSScene.TaintCallback refreshOperation = delegate()
+            {
+                RecomputeLinksetConstraintVariables();
+                DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", 
+                                LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
+            };
+        if (inTaintTime)
+            refreshOperation();
+        else
+            PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
+        }
+    }
+
     // The object is going dynamic (physical). Do any setup necessary
     //     for a dynamic linkset.
     // Only the state of the passed object can be modified. The rest of the linkset
@@ -182,24 +207,19 @@ public class BSLinkset
         return false;
     }
 
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    // Called at runtime.
-    public void Refresh(BSPhysObject requestor)
+    // If the software is handling the movement of all the objects in a linkset
+    // (like if one doesn't use constraints for static linksets), this is called
+    // when an update for the root of the linkset is received.
+    // Called at taint-time!!
+    public void UpdateProperties(BSPhysObject physObject)
     {
-        // If there are no children, there can't be any constraints to recompute
-        if (!HasAnyChildren)
-            return;
-
-        // Only the root does the recomputation
-        if (IsRoot(requestor))
+        // The root local properties have been updated. Apply to the children if appropriate.
+        if (IsRoot(physObject) && HasAnyChildren)
         {
-            PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
+            if (!physObject.IsPhysical)
             {
-                RecomputeLinksetConstraintVariables();
-                DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", 
-                                LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
-            });
+                // TODO: implement software linkset update for static object linksets
+            }
         }
     }
 
@@ -236,9 +256,8 @@ public class BSLinkset
         return ret;
     }
 
-    // Routine used when rebuilding the body of the root of the linkset
-    // This is called after RemoveAllLinksToRoot() to restore all the constraints.
-    // This is called when the root body has been changed.
+    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
+    // this routine will restore the removed constraints.
     // Called at taint-time!!
     public void RestoreBodyDependencies(BSPrim child)
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index d408be0..b26f049 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -327,7 +327,7 @@ public sealed class BSPrim : BSPhysObject
     // A version of the sanity check that also makes sure a new position value is
     //    pushed back to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool atTaintTime)
+    private bool PositionSanityCheck2(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -339,7 +339,7 @@ public sealed class BSPrim : BSPhysObject
                 DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
             };
-            if (atTaintTime)
+            if (inTaintTime)
                 sanityOperation();
             else
                 PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
@@ -583,7 +583,7 @@ public sealed class BSPrim : BSPhysObject
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
 
-        // Update vehicle specific parameters
+        // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
         _vehicle.Refresh();
 
         // Arrange for collision events if the simulator wants them
@@ -606,7 +606,7 @@ public sealed class BSPrim : BSPhysObject
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
-        Linkset.Refresh(this);
+        Linkset.Refresh(this, true);
 
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
                         LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
@@ -1322,6 +1322,8 @@ public sealed class BSPrim : BSPhysObject
 
             PositionSanityCheck2(true);
 
+            Linkset.UpdateProperties(this);
+
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 33ac116..50091cc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -39,7 +39,6 @@ using log4net;
 using OpenMetaverse;
 
 // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
-// Move all logic out of the C++ code and into the C# code for easier future modifications.
 // Test sculpties (verified that they don't work)
 // Compute physics FPS reasonably
 // Based on material, set density and friction
@@ -493,7 +492,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         int numSubSteps = 0;
 
         // DEBUG
-        DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
+        // DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
 
         try
         {
@@ -503,8 +502,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                         out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
 
             if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
-            DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}",
-                        DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
+            DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
+                        DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
         }
         catch (Exception e)
         {
@@ -855,7 +854,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
             (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
         new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
-            ConfigurationParameters.numericFalse,
+            ConfigurationParameters.numericTrue,
             (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
             (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
             (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index e619b48..d5e2172 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -67,8 +67,8 @@ public class BSShapeCollection : IDisposable
         public DateTime lastReferenced;
     }
 
-    private Dictionary<ulong, MeshDesc> Meshes = new Dictionary<ulong, MeshDesc>();
-    private Dictionary<ulong, HullDesc> Hulls = new Dictionary<ulong, HullDesc>();
+    private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
+    private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
     private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>();
 
     public BSShapeCollection(BSScene physScene)
@@ -121,7 +121,7 @@ public class BSShapeCollection : IDisposable
     // Track another user of a body
     // We presume the caller has allocated the body.
     // Bodies only have one user so the reference count is either 1 or 0.
-    public void ReferenceBody(BulletBody body, bool atTaintTime)
+    public void ReferenceBody(BulletBody body, bool inTaintTime)
     {
         lock (m_collectionActivityLock)
         {
@@ -147,7 +147,7 @@ public class BSShapeCollection : IDisposable
                                         body.ID, body);
                     }
                 };
-                if (atTaintTime)
+                if (inTaintTime)
                     createOperation();
                 else
                     PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
@@ -272,7 +272,7 @@ public class BSShapeCollection : IDisposable
 
     // Release the usage of a shape.
     // The collisionObject is released since it is a copy of the real collision shape.
-    public void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback)
+    public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
     {
         if (shape.ptr == IntPtr.Zero)
             return;
@@ -294,14 +294,14 @@ public class BSShapeCollection : IDisposable
                     if (shape.ptr != IntPtr.Zero & shape.isNativeShape)
                     {
                         DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
-                                        BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime);
+                                        BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
                         if (shapeCallback != null) shapeCallback(shape);
                         BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
                     }
                     break;
             }
         };
-        if (atTaintTime)
+        if (inTaintTime)
         {
             lock (m_collectionActivityLock)
             {
@@ -441,7 +441,7 @@ public class BSShapeCollection : IDisposable
 
         // Native shapes are always built independently.
         newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
-        newShape.shapeKey = (ulong)shapeKey;
+        newShape.shapeKey = (System.UInt64)shapeKey;
         newShape.isNativeShape = true;
 
         // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
@@ -461,7 +461,7 @@ public class BSShapeCollection : IDisposable
         BulletShape newShape = new BulletShape(IntPtr.Zero);
 
         float lod;
-        ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
+        System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
 
         // if this new shape is the same as last time, don't recreate the mesh
         if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
@@ -484,7 +484,7 @@ public class BSShapeCollection : IDisposable
         return true;        // 'true' means a new shape has been added to this prim
     }
 
-    private BulletShape CreatePhysicalMesh(string objName, ulong newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
+    private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
         IMesh meshData = null;
         IntPtr meshPtr;
@@ -531,7 +531,7 @@ public class BSShapeCollection : IDisposable
         BulletShape newShape;
 
         float lod;
-        ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
+        System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
 
         // if the hull hasn't changed, don't rebuild it
         if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
@@ -554,7 +554,7 @@ public class BSShapeCollection : IDisposable
     }
 
     List<ConvexResult> m_hulls;
-    private BulletShape CreatePhysicalHull(string objName, ulong newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
+    private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
 
         IntPtr hullPtr;
@@ -667,7 +667,7 @@ public class BSShapeCollection : IDisposable
 
     // Create a hash of all the shape parameters to be used as a key
     //    for this particular shape.
-    private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
+    private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
     {
         // level of detail based on size and type of the object
         float lod = PhysicsScene.MeshLOD;
@@ -680,10 +680,10 @@ public class BSShapeCollection : IDisposable
             lod = PhysicsScene.MeshMegaPrimLOD;
 
         retLod = lod;
-        return (ulong)pbs.GetMeshKey(shapeData.Size, lod);
+        return pbs.GetMeshKey(shapeData.Size, lod);
     }
     // For those who don't want the LOD
-    private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
+    private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
     {
         float lod;
         return ComputeShapeKey(shapeData, pbs, out lod);
@@ -717,6 +717,7 @@ public class BSShapeCollection : IDisposable
 
         if (mustRebuild || forceRebuild)
         {
+            // Free any old body
             DereferenceBody(prim.BSBody, true, bodyCallback);
 
             BulletBody aBody;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 70aa429..2808603 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -201,10 +201,10 @@ public class BSTerrainManager
     // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when
     //     calling this routine from initialization or taint-time routines) or whether to delay
     //     all the unmanaged activities to taint-time.
-    private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime)
+    private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
     {
-        DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}",
-                            BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime);
+        DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
+                            BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
 
         float minZ = float.MaxValue;
         float maxZ = float.MinValue;
@@ -320,7 +320,9 @@ public class BSTerrainManager
                 BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
                 BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
 
-                BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, 0f, Vector3.Zero);
+                float terrainMass = 1000;
+                Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(mapInfo.terrainBody.ptr, terrainMass);
+                BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, terrainMass, localInertia);
                 BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr);
 
                 // Return the new terrain to the world of physical objects
@@ -342,7 +344,7 @@ public class BSTerrainManager
 
             // There is the option to do the changes now (we're already in 'taint time'), or
             //     to do the Bullet operations later.
-            if (atTaintTime)
+            if (inTaintTime)
                 rebuildOperation();
             else
                 PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
@@ -381,7 +383,7 @@ public class BSTerrainManager
             };
 
             // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time.
-            if (atTaintTime)
+            if (inTaintTime)
                 createOperation();
             else
                 PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 7a60afb..e23fe5a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -101,9 +101,8 @@ public struct BulletShape
     }
     public IntPtr ptr;
     public ShapeData.PhysicsShapeType type;
-    public ulong shapeKey;
+    public System.UInt64 shapeKey;
     public bool isNativeShape;
-    // Hulls have an underlying mesh. A pointer to it is hidden here.
     public override string ToString()
     {
         StringBuilder buff = new StringBuilder();