diff options
author | Robert Adams | 2012-09-27 08:23:29 -0700 |
---|---|---|
committer | Robert Adams | 2012-09-27 22:01:52 -0700 |
commit | f82b903deeaaf8eaa7ae5c4d4b7e917dd0a6ce7b (patch) | |
tree | 3d355254a7bcb8c447fbfef901784af7062763d4 /OpenSim | |
parent | BulletSim: Terrain sets proper collision flags on creation. (diff) | |
download | opensim-SC-f82b903deeaaf8eaa7ae5c4d4b7e917dd0a6ce7b.zip opensim-SC-f82b903deeaaf8eaa7ae5c4d4b7e917dd0a6ce7b.tar.gz opensim-SC-f82b903deeaaf8eaa7ae5c4d4b7e917dd0a6ce7b.tar.bz2 opensim-SC-f82b903deeaaf8eaa7ae5c4d4b7e917dd0a6ce7b.tar.xz |
BulletSim: Fix linkset crash. Caused by the different body and shape
pointers at runtime and at taint-time. Now passes the body into the
taint.
Vehicles zero inertia when active to eliminate Bullet's contribution
to vehicle motion.
Diffstat (limited to 'OpenSim')
9 files changed, 182 insertions, 94 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs index ff271fe..39a3421 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs | |||
@@ -58,10 +58,22 @@ public class BS6DofConstraint : BSConstraint | |||
58 | m_world = world; | 58 | m_world = world; |
59 | m_body1 = obj1; | 59 | m_body1 = obj1; |
60 | m_body2 = obj2; | 60 | m_body2 = obj2; |
61 | m_constraint = new BulletConstraint( | 61 | if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero) |
62 | BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, | 62 | { |
63 | joinPoint, | 63 | world.scene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", |
64 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | 64 | "[BULLETSIM 6DOF CONSTRAINT]", world.worldID, |
65 | obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); | ||
66 | world.scene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", | ||
67 | "[BULLETSIM 6DOF CONSTRAINT]", world.worldID, | ||
68 | obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); | ||
69 | } | ||
70 | else | ||
71 | { | ||
72 | m_constraint = new BulletConstraint( | ||
73 | BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, | ||
74 | joinPoint, | ||
75 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | ||
76 | } | ||
65 | m_enabled = true; | 77 | m_enabled = true; |
66 | } | 78 | } |
67 | 79 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 2da2331..cf33d0e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -54,18 +54,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
54 | { | 54 | { |
55 | public class BSDynamics | 55 | public class BSDynamics |
56 | { | 56 | { |
57 | private int frcount = 0; // Used to limit dynamics debug output to | 57 | private BSScene PhysicsScene { get; set; } |
58 | // every 100th frame | 58 | // the prim this dynamic controller belongs to |
59 | 59 | private BSPrim Prim { get; set; } | |
60 | private BSScene m_physicsScene; | ||
61 | private BSPrim m_prim; // the prim this dynamic controller belongs to | ||
62 | 60 | ||
63 | // Vehicle properties | 61 | // Vehicle properties |
64 | private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind | 62 | public Vehicle Type { get; set; } |
65 | public Vehicle Type | 63 | |
66 | { | ||
67 | get { return m_type; } | ||
68 | } | ||
69 | // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier | 64 | // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier |
70 | private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: | 65 | private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: |
71 | // HOVER_TERRAIN_ONLY | 66 | // HOVER_TERRAIN_ONLY |
@@ -126,14 +121,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
126 | 121 | ||
127 | public BSDynamics(BSScene myScene, BSPrim myPrim) | 122 | public BSDynamics(BSScene myScene, BSPrim myPrim) |
128 | { | 123 | { |
129 | m_physicsScene = myScene; | 124 | PhysicsScene = myScene; |
130 | m_prim = myPrim; | 125 | Prim = myPrim; |
131 | m_type = Vehicle.TYPE_NONE; | 126 | Type = Vehicle.TYPE_NONE; |
127 | } | ||
128 | |||
129 | // Return 'true' if this vehicle is doing vehicle things | ||
130 | public bool IsActive | ||
131 | { | ||
132 | get { return Type != Vehicle.TYPE_NONE; } | ||
132 | } | 133 | } |
133 | 134 | ||
134 | internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) | 135 | internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) |
135 | { | 136 | { |
136 | VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); | 137 | VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); |
137 | switch (pParam) | 138 | switch (pParam) |
138 | { | 139 | { |
139 | case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: | 140 | case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: |
@@ -232,7 +233,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
232 | 233 | ||
233 | internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) | 234 | internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) |
234 | { | 235 | { |
235 | VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); | 236 | VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); |
236 | switch (pParam) | 237 | switch (pParam) |
237 | { | 238 | { |
238 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | 239 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: |
@@ -267,7 +268,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
267 | 268 | ||
268 | internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) | 269 | internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) |
269 | { | 270 | { |
270 | VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); | 271 | VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); |
271 | switch (pParam) | 272 | switch (pParam) |
272 | { | 273 | { |
273 | case Vehicle.REFERENCE_FRAME: | 274 | case Vehicle.REFERENCE_FRAME: |
@@ -281,7 +282,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
281 | 282 | ||
282 | internal void ProcessVehicleFlags(int pParam, bool remove) | 283 | internal void ProcessVehicleFlags(int pParam, bool remove) |
283 | { | 284 | { |
284 | VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); | 285 | VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove); |
285 | VehicleFlag parm = (VehicleFlag)pParam; | 286 | VehicleFlag parm = (VehicleFlag)pParam; |
286 | if (remove) | 287 | if (remove) |
287 | { | 288 | { |
@@ -301,9 +302,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
301 | 302 | ||
302 | internal void ProcessTypeChange(Vehicle pType) | 303 | internal void ProcessTypeChange(Vehicle pType) |
303 | { | 304 | { |
304 | VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); | 305 | VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); |
305 | // Set Defaults For Type | 306 | // Set Defaults For Type |
306 | m_type = pType; | 307 | Type = pType; |
307 | switch (pType) | 308 | switch (pType) |
308 | { | 309 | { |
309 | case Vehicle.TYPE_NONE: | 310 | case Vehicle.TYPE_NONE: |
@@ -465,26 +466,37 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
465 | } | 466 | } |
466 | }//end SetDefaultsForType | 467 | }//end SetDefaultsForType |
467 | 468 | ||
469 | // Some of the properties of this prim may have changed. | ||
470 | // Do any updating needed for a vehicle | ||
471 | public void Refresh() | ||
472 | { | ||
473 | if (Type == Vehicle.TYPE_NONE) return; | ||
474 | |||
475 | // Set the prim's inertia to zero. The vehicle code handles that and this | ||
476 | // removes the torque action introduced by Bullet. | ||
477 | Vector3 inertia = Vector3.Zero; | ||
478 | BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); | ||
479 | BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); | ||
480 | } | ||
481 | |||
468 | // One step of the vehicle properties for the next 'pTimestep' seconds. | 482 | // One step of the vehicle properties for the next 'pTimestep' seconds. |
469 | internal void Step(float pTimestep) | 483 | internal void Step(float pTimestep) |
470 | { | 484 | { |
471 | if (m_type == Vehicle.TYPE_NONE) return; | 485 | if (!IsActive) return; |
472 | |||
473 | frcount++; // used to limit debug comment output | ||
474 | if (frcount > 100) | ||
475 | frcount = 0; | ||
476 | 486 | ||
477 | MoveLinear(pTimestep); | 487 | MoveLinear(pTimestep); |
478 | MoveAngular(pTimestep); | 488 | MoveAngular(pTimestep); |
479 | LimitRotation(pTimestep); | 489 | LimitRotation(pTimestep); |
480 | 490 | ||
481 | // remember the position so next step we can limit absolute movement effects | 491 | // remember the position so next step we can limit absolute movement effects |
482 | m_lastPositionVector = m_prim.Position; | 492 | m_lastPositionVector = Prim.Position; |
483 | 493 | ||
484 | VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", | 494 | VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", |
485 | m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); | 495 | Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity); |
486 | }// end Step | 496 | }// end Step |
487 | 497 | ||
498 | // Apply the effect of the linear motor. | ||
499 | // Also does hover and float. | ||
488 | private void MoveLinear(float pTimestep) | 500 | private void MoveLinear(float pTimestep) |
489 | { | 501 | { |
490 | // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates | 502 | // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates |
@@ -520,18 +532,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
520 | m_linearMotorDirection *= keepfraction; | 532 | m_linearMotorDirection *= keepfraction; |
521 | 533 | ||
522 | VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}", | 534 | VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}", |
523 | m_prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector); | 535 | Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector); |
524 | } | 536 | } |
525 | else | 537 | else |
526 | { | 538 | { |
527 | // if what remains of direction is very small, zero it. | 539 | // if what remains of direction is very small, zero it. |
528 | m_linearMotorDirection = Vector3.Zero; | 540 | m_linearMotorDirection = Vector3.Zero; |
529 | m_lastLinearVelocityVector = Vector3.Zero; | 541 | m_lastLinearVelocityVector = Vector3.Zero; |
530 | VDetailLog("{0},MoveLinear,zeroed", m_prim.LocalID); | 542 | VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); |
531 | } | 543 | } |
532 | 544 | ||
533 | // convert requested object velocity to object relative vector | 545 | // convert requested object velocity to object relative vector |
534 | Quaternion rotq = m_prim.Orientation; | 546 | Quaternion rotq = Prim.Orientation; |
535 | m_newVelocity = m_lastLinearVelocityVector * rotq; | 547 | m_newVelocity = m_lastLinearVelocityVector * rotq; |
536 | 548 | ||
537 | // Add the various forces into m_dir which will be our new direction vector (velocity) | 549 | // Add the various forces into m_dir which will be our new direction vector (velocity) |
@@ -539,7 +551,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
539 | // add Gravity and Buoyancy | 551 | // add Gravity and Buoyancy |
540 | // There is some gravity, make a gravity force vector that is applied after object velocity. | 552 | // There is some gravity, make a gravity force vector that is applied after object velocity. |
541 | // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; | 553 | // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; |
542 | Vector3 grav = m_prim.PhysicsScene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy)); | 554 | Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy)); |
543 | 555 | ||
544 | /* | 556 | /* |
545 | * RA: Not sure why one would do this | 557 | * RA: Not sure why one would do this |
@@ -548,11 +560,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
548 | m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity | 560 | m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity |
549 | */ | 561 | */ |
550 | 562 | ||
551 | Vector3 pos = m_prim.Position; | 563 | Vector3 pos = Prim.Position; |
552 | // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); | 564 | // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); |
553 | 565 | ||
554 | // If below the terrain, move us above the ground a little. | 566 | // If below the terrain, move us above the ground a little. |
555 | float terrainHeight = m_prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); | 567 | float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); |
556 | // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. | 568 | // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. |
557 | // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. | 569 | // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. |
558 | // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation; | 570 | // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation; |
@@ -560,8 +572,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
560 | if (pos.Z < terrainHeight) | 572 | if (pos.Z < terrainHeight) |
561 | { | 573 | { |
562 | pos.Z = terrainHeight + 2; | 574 | pos.Z = terrainHeight + 2; |
563 | m_prim.Position = pos; | 575 | Prim.Position = pos; |
564 | VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", m_prim.LocalID, terrainHeight, pos); | 576 | VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); |
565 | } | 577 | } |
566 | 578 | ||
567 | // Check if hovering | 579 | // Check if hovering |
@@ -570,7 +582,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
570 | // We should hover, get the target height | 582 | // We should hover, get the target height |
571 | if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) | 583 | if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) |
572 | { | 584 | { |
573 | m_VhoverTargetHeight = m_prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; | 585 | m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; |
574 | } | 586 | } |
575 | if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) | 587 | if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) |
576 | { | 588 | { |
@@ -590,7 +602,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
590 | { | 602 | { |
591 | if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) | 603 | if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) |
592 | { | 604 | { |
593 | m_prim.Position = pos; | 605 | Prim.Position = pos; |
594 | } | 606 | } |
595 | } | 607 | } |
596 | else | 608 | else |
@@ -608,7 +620,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
608 | } | 620 | } |
609 | } | 621 | } |
610 | 622 | ||
611 | VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight); | 623 | VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight); |
612 | } | 624 | } |
613 | 625 | ||
614 | Vector3 posChange = pos - m_lastPositionVector; | 626 | Vector3 posChange = pos - m_lastPositionVector; |
@@ -642,9 +654,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
642 | } | 654 | } |
643 | if (changed) | 655 | if (changed) |
644 | { | 656 | { |
645 | m_prim.Position = pos; | 657 | Prim.Position = pos; |
646 | VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", | 658 | VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", |
647 | m_prim.LocalID, m_BlockingEndPoint, posChange, pos); | 659 | Prim.LocalID, m_BlockingEndPoint, posChange, pos); |
648 | } | 660 | } |
649 | } | 661 | } |
650 | 662 | ||
@@ -664,7 +676,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
664 | float postemp = (pos.Z - terrainHeight); | 676 | float postemp = (pos.Z - terrainHeight); |
665 | if (postemp > 2.5f) | 677 | if (postemp > 2.5f) |
666 | grav.Z = (float)(grav.Z * 1.037125); | 678 | grav.Z = (float)(grav.Z * 1.037125); |
667 | VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); | 679 | VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav); |
668 | } | 680 | } |
669 | if ((m_flags & (VehicleFlag.NO_X)) != 0) | 681 | if ((m_flags & (VehicleFlag.NO_X)) != 0) |
670 | m_newVelocity.X = 0; | 682 | m_newVelocity.X = 0; |
@@ -674,7 +686,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
674 | m_newVelocity.Z = 0; | 686 | m_newVelocity.Z = 0; |
675 | 687 | ||
676 | // Apply velocity | 688 | // Apply velocity |
677 | m_prim.Velocity = m_newVelocity; | 689 | Prim.Velocity = m_newVelocity; |
678 | // apply gravity force | 690 | // apply gravity force |
679 | // Why is this set here? The physics engine already does gravity. | 691 | // Why is this set here? The physics engine already does gravity. |
680 | // m_prim.AddForce(grav, false); | 692 | // m_prim.AddForce(grav, false); |
@@ -684,10 +696,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
684 | m_lastLinearVelocityVector *= keepFraction; | 696 | m_lastLinearVelocityVector *= keepFraction; |
685 | 697 | ||
686 | VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", | 698 | VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", |
687 | m_prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); | 699 | Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); |
688 | 700 | ||
689 | } // end MoveLinear() | 701 | } // end MoveLinear() |
690 | 702 | ||
703 | // Apply the effect of the angular motor. | ||
691 | private void MoveAngular(float pTimestep) | 704 | private void MoveAngular(float pTimestep) |
692 | { | 705 | { |
693 | // m_angularMotorDirection // angular velocity requested by LSL motor | 706 | // m_angularMotorDirection // angular velocity requested by LSL motor |
@@ -699,7 +712,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
699 | // m_lastAngularVelocity // what was last applied to body | 712 | // m_lastAngularVelocity // what was last applied to body |
700 | 713 | ||
701 | // Get what the body is doing, this includes 'external' influences | 714 | // Get what the body is doing, this includes 'external' influences |
702 | Vector3 angularVelocity = m_prim.RotationalVelocity; | 715 | Vector3 angularVelocity = Prim.RotationalVelocity; |
703 | 716 | ||
704 | if (m_angularMotorApply > 0) | 717 | if (m_angularMotorApply > 0) |
705 | { | 718 | { |
@@ -716,7 +729,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
716 | m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); | 729 | m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); |
717 | 730 | ||
718 | VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}", | 731 | VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}", |
719 | m_prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); | 732 | Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); |
720 | 733 | ||
721 | // This is done so that if script request rate is less than phys frame rate the expected | 734 | // This is done so that if script request rate is less than phys frame rate the expected |
722 | // velocity may still be acheived. | 735 | // velocity may still be acheived. |
@@ -737,7 +750,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
737 | { | 750 | { |
738 | float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep); | 751 | float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep); |
739 | // get present body rotation | 752 | // get present body rotation |
740 | Quaternion rotq = m_prim.Orientation; | 753 | Quaternion rotq = Prim.Orientation; |
741 | // make a vector pointing up | 754 | // make a vector pointing up |
742 | Vector3 verterr = Vector3.Zero; | 755 | Vector3 verterr = Vector3.Zero; |
743 | verterr.Z = 1.0f; | 756 | verterr.Z = 1.0f; |
@@ -767,7 +780,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
767 | vertattr.Y += bounce * angularVelocity.Y; | 780 | vertattr.Y += bounce * angularVelocity.Y; |
768 | 781 | ||
769 | VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", | 782 | VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", |
770 | m_prim.LocalID, verterr, bounce, vertattr); | 783 | Prim.LocalID, verterr, bounce, vertattr); |
771 | 784 | ||
772 | } // else vertical attractor is off | 785 | } // else vertical attractor is off |
773 | 786 | ||
@@ -784,13 +797,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
784 | { | 797 | { |
785 | m_lastAngularVelocity.X = 0; | 798 | m_lastAngularVelocity.X = 0; |
786 | m_lastAngularVelocity.Y = 0; | 799 | m_lastAngularVelocity.Y = 0; |
787 | VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); | 800 | VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); |
788 | } | 801 | } |
789 | 802 | ||
790 | if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) | 803 | if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) |
791 | { | 804 | { |
792 | m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. | 805 | m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. |
793 | VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); | 806 | VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); |
794 | } | 807 | } |
795 | 808 | ||
796 | // apply friction | 809 | // apply friction |
@@ -798,14 +811,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
798 | m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; | 811 | m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; |
799 | 812 | ||
800 | // Apply to the body | 813 | // Apply to the body |
801 | m_prim.RotationalVelocity = m_lastAngularVelocity; | 814 | Prim.RotationalVelocity = m_lastAngularVelocity; |
802 | 815 | ||
803 | VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); | 816 | VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); |
804 | } //end MoveAngular | 817 | } //end MoveAngular |
805 | 818 | ||
806 | internal void LimitRotation(float timestep) | 819 | internal void LimitRotation(float timestep) |
807 | { | 820 | { |
808 | Quaternion rotq = m_prim.Orientation; | 821 | Quaternion rotq = Prim.Orientation; |
809 | Quaternion m_rot = rotq; | 822 | Quaternion m_rot = rotq; |
810 | bool changed = false; | 823 | bool changed = false; |
811 | if (m_RollreferenceFrame != Quaternion.Identity) | 824 | if (m_RollreferenceFrame != Quaternion.Identity) |
@@ -840,8 +853,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
840 | } | 853 | } |
841 | if (changed) | 854 | if (changed) |
842 | { | 855 | { |
843 | m_prim.Orientation = m_rot; | 856 | Prim.Orientation = m_rot; |
844 | VDetailLog("{0},LimitRotation,done,orig={1},new={2}", m_prim.LocalID, rotq, m_rot); | 857 | VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); |
845 | } | 858 | } |
846 | 859 | ||
847 | } | 860 | } |
@@ -849,8 +862,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
849 | // Invoke the detailed logger and output something if it's enabled. | 862 | // Invoke the detailed logger and output something if it's enabled. |
850 | private void VDetailLog(string msg, params Object[] args) | 863 | private void VDetailLog(string msg, params Object[] args) |
851 | { | 864 | { |
852 | if (m_prim.PhysicsScene.VehicleLoggingEnabled) | 865 | if (Prim.PhysicsScene.VehicleLoggingEnabled) |
853 | m_prim.PhysicsScene.PhysicsLogging.Write(msg, args); | 866 | Prim.PhysicsScene.PhysicsLogging.Write(msg, args); |
854 | } | 867 | } |
855 | } | 868 | } |
856 | } | 869 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 84a7fac..6967108 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | |||
@@ -92,7 +92,9 @@ public class BSLinkset | |||
92 | { | 92 | { |
93 | lock (m_linksetActivityLock) | 93 | lock (m_linksetActivityLock) |
94 | { | 94 | { |
95 | AddChildToLinkset(child); | 95 | // Don't add the root to its own linkset |
96 | if (!IsRoot(child)) | ||
97 | AddChildToLinkset(child); | ||
96 | } | 98 | } |
97 | return this; | 99 | return this; |
98 | } | 100 | } |
@@ -106,6 +108,17 @@ public class BSLinkset | |||
106 | { | 108 | { |
107 | if (IsRoot(child)) | 109 | if (IsRoot(child)) |
108 | { | 110 | { |
111 | // Cannot remove the root from a linkset. | ||
112 | return this; | ||
113 | } | ||
114 | |||
115 | RemoveChildFromLinkset(child); | ||
116 | |||
117 | /* Alternate implementation that destroys the linkset of the root is removed. | ||
118 | * This fails because items are added and removed from linksets to build shapes. | ||
119 | * Code left for reference. | ||
120 | if (IsRoot(child)) | ||
121 | { | ||
109 | // if root of linkset, take the linkset apart | 122 | // if root of linkset, take the linkset apart |
110 | while (m_children.Count > 0) | 123 | while (m_children.Count > 0) |
111 | { | 124 | { |
@@ -120,6 +133,7 @@ public class BSLinkset | |||
120 | // Just removing a child from an existing linkset | 133 | // Just removing a child from an existing linkset |
121 | RemoveChildFromLinkset(child); | 134 | RemoveChildFromLinkset(child); |
122 | } | 135 | } |
136 | */ | ||
123 | } | 137 | } |
124 | 138 | ||
125 | // The child is down to a linkset of just itself | 139 | // The child is down to a linkset of just itself |
@@ -308,12 +322,16 @@ public class BSLinkset | |||
308 | { | 322 | { |
309 | m_children.Add(child); | 323 | m_children.Add(child); |
310 | 324 | ||
311 | BSPhysObject rootx = LinksetRoot; // capture the root as of now | 325 | BSPhysObject rootx = LinksetRoot; // capture the root and body as of now |
326 | BulletBody rootBodyx = LinksetRoot.BSBody; | ||
312 | BSPhysObject childx = child; | 327 | BSPhysObject childx = child; |
328 | BulletBody childBodyx = child.BSBody; | ||
329 | |||
313 | PhysicsScene.TaintedObject("AddChildToLinkset", delegate() | 330 | PhysicsScene.TaintedObject("AddChildToLinkset", delegate() |
314 | { | 331 | { |
315 | DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); | 332 | DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); |
316 | PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child | 333 | // build the physical binding between me and the child |
334 | PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx); | ||
317 | }); | 335 | }); |
318 | } | 336 | } |
319 | return; | 337 | return; |
@@ -323,7 +341,7 @@ public class BSLinkset | |||
323 | // This is not being called by the child so we have to make sure the child doesn't think | 341 | // This is not being called by the child so we have to make sure the child doesn't think |
324 | // it's still connected to the linkset. | 342 | // it's still connected to the linkset. |
325 | // Normal OpenSimulator operation will never do this because other SceneObjectPart information | 343 | // Normal OpenSimulator operation will never do this because other SceneObjectPart information |
326 | // has to be updated also (like pointer to prim's parent). | 344 | // also has to be updated (like pointer to prim's parent). |
327 | private void RemoveChildFromOtherLinkset(BSPhysObject pchild) | 345 | private void RemoveChildFromOtherLinkset(BSPhysObject pchild) |
328 | { | 346 | { |
329 | pchild.Linkset = new BSLinkset(PhysicsScene, pchild); | 347 | pchild.Linkset = new BSLinkset(PhysicsScene, pchild); |
@@ -336,13 +354,15 @@ public class BSLinkset | |||
336 | { | 354 | { |
337 | if (m_children.Remove(child)) | 355 | if (m_children.Remove(child)) |
338 | { | 356 | { |
339 | BSPhysObject rootx = LinksetRoot; // capture the root as of now | 357 | BSPhysObject rootx = LinksetRoot; // capture the root and body as of now |
358 | BulletBody rootBodyx = LinksetRoot.BSBody; | ||
340 | BSPhysObject childx = child; | 359 | BSPhysObject childx = child; |
360 | BulletBody childBodyx = child.BSBody; | ||
341 | PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() | 361 | PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() |
342 | { | 362 | { |
343 | DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); | 363 | DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); |
344 | 364 | ||
345 | PhysicallyUnlinkAChildFromRoot(rootx, childx); | 365 | PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx); |
346 | RecomputeLinksetConstraintVariables(); | 366 | RecomputeLinksetConstraintVariables(); |
347 | }); | 367 | }); |
348 | 368 | ||
@@ -357,7 +377,8 @@ public class BSLinkset | |||
357 | 377 | ||
358 | // Create a constraint between me (root of linkset) and the passed prim (the child). | 378 | // Create a constraint between me (root of linkset) and the passed prim (the child). |
359 | // Called at taint time! | 379 | // Called at taint time! |
360 | private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) | 380 | private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody, |
381 | BSPhysObject childPrim, BulletBody childBody) | ||
361 | { | 382 | { |
362 | // Zero motion for children so they don't interpolate | 383 | // Zero motion for children so they don't interpolate |
363 | childPrim.ZeroMotion(); | 384 | childPrim.ZeroMotion(); |
@@ -371,16 +392,32 @@ public class BSLinkset | |||
371 | 392 | ||
372 | // create a constraint that allows no freedom of movement between the two objects | 393 | // create a constraint that allows no freedom of movement between the two objects |
373 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | 394 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 |
374 | DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", | 395 | DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", |
375 | rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint); | 396 | rootPrim.LocalID, |
397 | rootPrim.LocalID, rootBody.ptr.ToString("X"), | ||
398 | childPrim.LocalID, childBody.ptr.ToString("X"), | ||
399 | rootPrim.Position, childPrim.Position, midPoint); | ||
400 | |||
401 | // There is great subtlty in these paramters. Notice the check for a ptr of zero. | ||
402 | // We pass the BulletBody structure into the taint in order to capture the pointer | ||
403 | // of the body at the time of constraint creation. This doesn't work for the very first | ||
404 | // construction because there is no body yet. The body | ||
405 | // is constructed later at taint time. Thus we use the body address at time of the | ||
406 | // taint creation but, if it is zero, use what's in the prim at the moment. | ||
407 | // There is a possible race condition since shape can change without a taint call | ||
408 | // (like changing to a mesh that is already constructed). The fix for that would be | ||
409 | // to only change BSShape at taint time thus syncronizing these operations at | ||
410 | // the cost of efficiency and lag. | ||
376 | BS6DofConstraint constrain = new BS6DofConstraint( | 411 | BS6DofConstraint constrain = new BS6DofConstraint( |
377 | PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, | 412 | PhysicsScene.World, |
413 | rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody, | ||
414 | childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody, | ||
378 | midPoint, | 415 | midPoint, |
379 | true, | 416 | true, |
380 | true | 417 | true |
381 | ); | 418 | ); |
382 | /* NOTE: below is an attempt to build constraint with full frame computation, etc. | 419 | /* NOTE: below is an attempt to build constraint with full frame computation, etc. |
383 | * Using the midpoint is easier since it lets the Bullet code use the transforms | 420 | * Using the midpoint is easier since it lets the Bullet code manipulate the transforms |
384 | * of the objects. | 421 | * of the objects. |
385 | * Code left as a warning to future programmers. | 422 | * Code left as a warning to future programmers. |
386 | // ================================================================================== | 423 | // ================================================================================== |
@@ -433,19 +470,26 @@ public class BSLinkset | |||
433 | } | 470 | } |
434 | 471 | ||
435 | // Remove linkage between myself and a particular child | 472 | // Remove linkage between myself and a particular child |
473 | // The root and child bodies are passed in because we need to remove the constraint between | ||
474 | // the bodies that were at unlink time. | ||
436 | // Called at taint time! | 475 | // Called at taint time! |
437 | private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) | 476 | private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody, |
477 | BSPhysObject childPrim, BulletBody childBody) | ||
438 | { | 478 | { |
439 | DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); | 479 | DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", |
480 | rootPrim.LocalID, | ||
481 | rootPrim.LocalID, rootBody.ptr.ToString("X"), | ||
482 | childPrim.LocalID, childBody.ptr.ToString("X")); | ||
440 | 483 | ||
441 | // Find the constraint for this link and get rid of it from the overall collection and from my list | 484 | // Find the constraint for this link and get rid of it from the overall collection and from my list |
442 | PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody); | 485 | PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody); |
443 | 486 | ||
444 | // Make the child refresh its location | 487 | // Make the child refresh its location |
445 | BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); | 488 | BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); |
446 | } | 489 | } |
447 | 490 | ||
448 | // Remove linkage between myself and any possible children I might have | 491 | /* |
492 | // Remove linkage between myself and any possible children I might have. | ||
449 | // Called at taint time! | 493 | // Called at taint time! |
450 | private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) | 494 | private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) |
451 | { | 495 | { |
@@ -453,6 +497,7 @@ public class BSLinkset | |||
453 | 497 | ||
454 | PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); | 498 | PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); |
455 | } | 499 | } |
500 | */ | ||
456 | 501 | ||
457 | // Invoke the detailed logger and output something if it's enabled. | 502 | // Invoke the detailed logger and output something if it's enabled. |
458 | private void DetailLog(string msg, params Object[] args) | 503 | private void DetailLog(string msg, params Object[] args) |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 4f83adc..df95625 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -135,8 +135,11 @@ public abstract class BSPhysObject : PhysicsActor | |||
135 | // collision event to make collision_end work. | 135 | // collision event to make collision_end work. |
136 | // Called at taint time from within the Step() function thus no locking problems | 136 | // Called at taint time from within the Step() function thus no locking problems |
137 | // with CollisionCollection and ObjectsWithNoMoreCollisions. | 137 | // with CollisionCollection and ObjectsWithNoMoreCollisions. |
138 | public virtual void SendCollisions() | 138 | // Return 'true' if there were some actual collisions passed up |
139 | public virtual bool SendCollisions() | ||
139 | { | 140 | { |
141 | bool ret = true; | ||
142 | |||
140 | // throttle the collisions to the number of milliseconds specified in the subscription | 143 | // throttle the collisions to the number of milliseconds specified in the subscription |
141 | int nowTime = PhysicsScene.SimulationNowTime; | 144 | int nowTime = PhysicsScene.SimulationNowTime; |
142 | if (nowTime >= NextCollisionOkTime) | 145 | if (nowTime >= NextCollisionOkTime) |
@@ -148,7 +151,7 @@ public abstract class BSPhysObject : PhysicsActor | |||
148 | if (CollisionCollection.Count == 0) | 151 | if (CollisionCollection.Count == 0) |
149 | { | 152 | { |
150 | // If I have no collisions this time, remove me from the list of objects with collisions. | 153 | // If I have no collisions this time, remove me from the list of objects with collisions. |
151 | PhysicsScene.ObjectsWithNoMoreCollisions.Add(this); | 154 | ret = false; |
152 | } | 155 | } |
153 | 156 | ||
154 | // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); | 157 | // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); |
@@ -158,6 +161,7 @@ public abstract class BSPhysObject : PhysicsActor | |||
158 | // Make sure we don't have a handle to that one and that a new one is used for next time. | 161 | // Make sure we don't have a handle to that one and that a new one is used for next time. |
159 | CollisionCollection = new CollisionEventUpdate(); | 162 | CollisionCollection = new CollisionEventUpdate(); |
160 | } | 163 | } |
164 | return ret; | ||
161 | } | 165 | } |
162 | 166 | ||
163 | // Subscribe for collision events. | 167 | // Subscribe for collision events. |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 68a153e..17ba85a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -507,6 +507,9 @@ public sealed class BSPrim : BSPhysObject | |||
507 | // Set up the object physicalness (does gravity and collisions move this object) | 507 | // Set up the object physicalness (does gravity and collisions move this object) |
508 | MakeDynamic(IsStatic); | 508 | MakeDynamic(IsStatic); |
509 | 509 | ||
510 | // Do any vehicle stuff | ||
511 | _vehicle.Refresh(); | ||
512 | |||
510 | // Arrange for collision events if the simulator wants them | 513 | // Arrange for collision events if the simulator wants them |
511 | EnableCollisions(SubscribedEvents()); | 514 | EnableCollisions(SubscribedEvents()); |
512 | 515 | ||
@@ -556,9 +559,8 @@ public sealed class BSPrim : BSPhysObject | |||
556 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); | 559 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); |
557 | // There can be special things needed for implementing linksets | 560 | // There can be special things needed for implementing linksets |
558 | Linkset.MakeStatic(this); | 561 | Linkset.MakeStatic(this); |
559 | // The activation state is 'sleeping' so Bullet will not try to act on it | 562 | // The activation state is 'disabled' so Bullet will not try to act on it |
560 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); | 563 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); |
561 | // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); | ||
562 | 564 | ||
563 | BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; | 565 | BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; |
564 | BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; | 566 | BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; |
@@ -577,7 +579,8 @@ public sealed class BSPrim : BSPhysObject | |||
577 | 579 | ||
578 | // A dynamic object has mass | 580 | // A dynamic object has mass |
579 | IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); | 581 | IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); |
580 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass); | 582 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); |
583 | // OMV.Vector3 inertia = OMV.Vector3.Zero; | ||
581 | BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); | 584 | BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); |
582 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); | 585 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); |
583 | 586 | ||
@@ -587,10 +590,12 @@ public sealed class BSPrim : BSPhysObject | |||
587 | BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); | 590 | BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); |
588 | BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); | 591 | BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); |
589 | 592 | ||
590 | // There can be special things needed for implementing linksets | 593 | // There can be special things needed for implementing linksets. |
591 | Linkset.MakeDynamic(this); | 594 | Linkset.MakeDynamic(this); |
592 | 595 | ||
593 | // Force activation of the object so Bullet will act on it. | 596 | // Force activation of the object so Bullet will act on it. |
597 | // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. | ||
598 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); | ||
594 | BulletSimAPI.Activate2(BSBody.ptr, true); | 599 | BulletSimAPI.Activate2(BSBody.ptr, true); |
595 | 600 | ||
596 | BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; | 601 | BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; |
@@ -1457,9 +1462,16 @@ public sealed class BSPrim : BSPhysObject | |||
1457 | ShapeData shapeData; | 1462 | ShapeData shapeData; |
1458 | FillShapeInfo(out shapeData); | 1463 | FillShapeInfo(out shapeData); |
1459 | 1464 | ||
1465 | // Undo me from any possible linkset so, if body is rebuilt, the link will get restored. | ||
1466 | // NOTE that the new linkset is not set. This saves the handle to the linkset | ||
1467 | // so we can add ourselves back when shape mangling is complete. | ||
1468 | Linkset.RemoveMeFromLinkset(this); | ||
1469 | |||
1460 | // Create the correct physical representation for this type of object. | 1470 | // Create the correct physical representation for this type of object. |
1461 | // Updates BSBody and BSShape with the new information. | 1471 | // Updates BSBody and BSShape with the new information. |
1462 | PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs); | 1472 | PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs); |
1473 | |||
1474 | Linkset = Linkset.AddMeToLinkset(this); | ||
1463 | 1475 | ||
1464 | // Make sure the properties are set on the new object | 1476 | // Make sure the properties are set on the new object |
1465 | UpdatePhysicalParameters(); | 1477 | UpdatePhysicalParameters(); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e8c628c..44a249c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -544,12 +544,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
544 | 544 | ||
545 | // The above SendCollision's batch up the collisions on the objects. | 545 | // The above SendCollision's batch up the collisions on the objects. |
546 | // Now push the collisions into the simulator. | 546 | // Now push the collisions into the simulator. |
547 | // If the object is done colliding, it will add itself to the ObjectsWithNoMoreCollisions list. | ||
548 | if (ObjectsWithCollisions.Count > 0) | 547 | if (ObjectsWithCollisions.Count > 0) |
549 | { | 548 | { |
550 | foreach (BSPhysObject bsp in ObjectsWithCollisions) | 549 | foreach (BSPhysObject bsp in ObjectsWithCollisions) |
551 | if (!m_avatars.Contains(bsp)) // don't call avatars twice | 550 | if (!m_avatars.Contains(bsp)) // don't call avatars twice |
552 | bsp.SendCollisions(); | 551 | if (!bsp.SendCollisions()) |
552 | { | ||
553 | // If the object is done colliding, see that it's removed from the colliding list | ||
554 | ObjectsWithNoMoreCollisions.Add(bsp); | ||
555 | } | ||
553 | } | 556 | } |
554 | 557 | ||
555 | // Objects that are done colliding are removed from the ObjectsWithCollisions list. | 558 | // Objects that are done colliding are removed from the ObjectsWithCollisions list. |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index aadb8d6..72c6df5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | |||
@@ -498,7 +498,8 @@ public class BSShapeCollection : IDisposable | |||
498 | ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod); | 498 | ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod); |
499 | 499 | ||
500 | // if the hull hasn't changed, don't rebuild it | 500 | // if the hull hasn't changed, don't rebuild it |
501 | if (newHullKey == prim.BSShape.shapeKey) return false; | 501 | if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) |
502 | return false; | ||
502 | 503 | ||
503 | DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", | 504 | DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", |
504 | prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); | 505 | prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); |
@@ -508,11 +509,8 @@ public class BSShapeCollection : IDisposable | |||
508 | 509 | ||
509 | newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); | 510 | newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); |
510 | 511 | ||
511 | if (!ReferenceShape(newShape)) | 512 | ReferenceShape(newShape); |
512 | { | 513 | |
513 | PhysicsScene.Logger.ErrorFormat("{0} Created new hull shape but one already exists: id={1}, key={2}, refCnt={3}", | ||
514 | LogHeader, shapeData.ID, newHullKey.ToString("X"), Hulls[newHullKey].referenceCount); | ||
515 | } | ||
516 | // hulls are already scaled by the meshmerizer | 514 | // hulls are already scaled by the meshmerizer |
517 | prim.Scale = new OMV.Vector3(1f, 1f, 1f); | 515 | prim.Scale = new OMV.Vector3(1f, 1f, 1f); |
518 | prim.BSShape = newShape; | 516 | prim.BSShape = newShape; |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 50638d6..269c3d5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | |||
@@ -334,7 +334,8 @@ public class BSTerrainManager | |||
334 | (uint)CollisionFilterGroups.TerrainMask); | 334 | (uint)CollisionFilterGroups.TerrainMask); |
335 | 335 | ||
336 | // Make sure the new shape is processed. | 336 | // Make sure the new shape is processed. |
337 | BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); | 337 | // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); |
338 | BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); | ||
338 | 339 | ||
339 | m_terrainModified = true; | 340 | m_terrainModified = true; |
340 | }; | 341 | }; |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 6910050..2d65a35 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -369,16 +369,16 @@ public enum CollisionFilterGroups : uint | |||
369 | BSolidFilter = 1 << 13, | 369 | BSolidFilter = 1 << 13, |
370 | 370 | ||
371 | // The collsion filters and masked are defined in one place -- don't want them scattered | 371 | // The collsion filters and masked are defined in one place -- don't want them scattered |
372 | AvatarFilter = BDefaultFilter | BCharacterFilter | BSolidFilter, | 372 | AvatarFilter = BCharacterFilter, |
373 | AvatarMask = BAllFilter, | 373 | AvatarMask = BAllFilter, |
374 | ObjectFilter = BDefaultFilter | BSolidFilter, | 374 | ObjectFilter = BSolidFilter, |
375 | ObjectMask = BAllFilter, | 375 | ObjectMask = BAllFilter, |
376 | StaticObjectFilter = BDefaultFilter | BStaticFilter | BSolidFilter, | 376 | StaticObjectFilter = BStaticFilter, |
377 | StaticObjectMask = BAllFilter, | 377 | StaticObjectMask = BAllFilter, |
378 | VolumeDetectFilter = BSensorTrigger, | 378 | VolumeDetectFilter = BSensorTrigger, |
379 | VolumeDetectMask = ~BSensorTrigger, | 379 | VolumeDetectMask = ~BSensorTrigger, |
380 | TerrainFilter = BTerrainFilter, | 380 | TerrainFilter = BTerrainFilter, |
381 | TerrainMask = BAllFilter, | 381 | TerrainMask = BAllFilter & ~BStaticFilter, |
382 | GroundPlaneFilter = BAllFilter, | 382 | GroundPlaneFilter = BAllFilter, |
383 | GroundPlaneMask = BAllFilter | 383 | GroundPlaneMask = BAllFilter |
384 | 384 | ||