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diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
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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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OpenSim.Framework;
32
33using OMV = OpenMetaverse;
34
35namespace OpenSim.Region.Physics.BulletSNPlugin
36{
37
38// When a child is linked, the relationship position of the child to the parent
39// is remembered so the child's world position can be recomputed when it is
40// removed from the linkset.
41sealed class BSLinksetCompoundInfo : BSLinksetInfo
42{
43 public OMV.Vector3 OffsetPos;
44 public OMV.Quaternion OffsetRot;
45 public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r)
46 {
47 OffsetPos = p;
48 OffsetRot = r;
49 }
50 public override void Clear()
51 {
52 OffsetPos = OMV.Vector3.Zero;
53 OffsetRot = OMV.Quaternion.Identity;
54 }
55 public override string ToString()
56 {
57 StringBuilder buff = new StringBuilder();
58 buff.Append("<p=");
59 buff.Append(OffsetPos.ToString());
60 buff.Append(",r=");
61 buff.Append(OffsetRot.ToString());
62 buff.Append(">");
63 return buff.ToString();
64 }
65};
66
67public sealed class BSLinksetCompound : BSLinkset
68{
69 private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
70
71 public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
72 {
73 }
74
75 // For compound implimented linksets, if there are children, use compound shape for the root.
76 public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
77 {
78 // Returning 'unknown' means we don't have a preference.
79 BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
80 if (IsRoot(requestor) && HasAnyChildren)
81 {
82 ret = BSPhysicsShapeType.SHAPE_COMPOUND;
83 }
84 // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
85 return ret;
86 }
87
88 // When physical properties are changed the linkset needs to recalculate
89 // its internal properties.
90 public override void Refresh(BSPhysObject requestor)
91 {
92 base.Refresh(requestor);
93
94 // Something changed so do the rebuilding thing
95 // ScheduleRebuild();
96 }
97
98 // Schedule a refresh to happen after all the other taint processing.
99 private void ScheduleRebuild(BSPhysObject requestor)
100 {
101 DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}",
102 requestor.LocalID, Rebuilding);
103 // When rebuilding, it is possible to set properties that would normally require a rebuild.
104 // If already rebuilding, don't request another rebuild.
105 if (!Rebuilding)
106 {
107 PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
108 {
109 if (HasAnyChildren)
110 RecomputeLinksetCompound();
111 });
112 }
113 }
114
115 // The object is going dynamic (physical). Do any setup necessary
116 // for a dynamic linkset.
117 // Only the state of the passed object can be modified. The rest of the linkset
118 // has not yet been fully constructed.
119 // Return 'true' if any properties updated on the passed object.
120 // Called at taint-time!
121 public override bool MakeDynamic(BSPhysObject child)
122 {
123 bool ret = false;
124 DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
125 if (IsRoot(child))
126 {
127 // The root is going dynamic. Make sure mass is properly set.
128 ScheduleRebuild(LinksetRoot);
129 }
130 else
131 {
132 // The origional prims are removed from the world as the shape of the root compound
133 // shape takes over.
134 BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
135 BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
136 // We don't want collisions from the old linkset children.
137 BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
138
139 child.PhysBody.collisionType = CollisionType.LinksetChild;
140
141 ret = true;
142 }
143 return ret;
144 }
145
146 // The object is going static (non-physical). Do any setup necessary for a static linkset.
147 // Return 'true' if any properties updated on the passed object.
148 // This doesn't normally happen -- OpenSim removes the objects from the physical
149 // world if it is a static linkset.
150 // Called at taint-time!
151 public override bool MakeStatic(BSPhysObject child)
152 {
153 bool ret = false;
154 DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
155 if (IsRoot(child))
156 {
157 ScheduleRebuild(LinksetRoot);
158 }
159 else
160 {
161 // The non-physical children can come back to life.
162 BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
163
164 child.PhysBody.collisionType = CollisionType.LinksetChild;
165
166 // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
167 BulletSimAPI.Activate2(child.PhysBody.ptr, false);
168 ret = true;
169 }
170 return ret;
171 }
172
173 public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
174 {
175 // The user moving a child around requires the rebuilding of the linkset compound shape
176 // One problem is this happens when a border is crossed -- the simulator implementation
177 // is to store the position into the group which causes the move of the object
178 // but it also means all the child positions get updated.
179 // What would cause an unnecessary rebuild so we make sure the linkset is in a
180 // region before bothering to do a rebuild.
181 if (!IsRoot(updated)
182 && !physicalUpdate
183 && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
184 {
185 updated.LinksetInfo = null;
186 ScheduleRebuild(updated);
187 }
188 }
189
190 // Routine called when rebuilding the body of some member of the linkset.
191 // Since we don't keep in world relationships, do nothing unless it's a child changing.
192 // Returns 'true' of something was actually removed and would need restoring
193 // Called at taint-time!!
194 public override bool RemoveBodyDependencies(BSPrim child)
195 {
196 bool ret = false;
197
198 DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
199 child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), IsRoot(child));
200
201 if (!IsRoot(child))
202 {
203 // Because it is a convenient time, recompute child world position and rotation based on
204 // its position in the linkset.
205 RecomputeChildWorldPosition(child, true);
206 }
207
208 // Cannot schedule a refresh/rebuild here because this routine is called when
209 // the linkset is being rebuilt.
210 // InternalRefresh(LinksetRoot);
211
212 return ret;
213 }
214
215 // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
216 // this routine will restore the removed constraints.
217 // Called at taint-time!!
218 public override void RestoreBodyDependencies(BSPrim child)
219 {
220 }
221
222 // When the linkset is built, the child shape is added to the compound shape relative to the
223 // root shape. The linkset then moves around but this does not move the actual child
224 // prim. The child prim's location must be recomputed based on the location of the root shape.
225 private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
226 {
227 BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
228 if (lci != null)
229 {
230 if (inTaintTime)
231 {
232 OMV.Vector3 oldPos = child.RawPosition;
233 child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos;
234 child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
235 DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
236 child.LocalID, oldPos, lci, child.RawPosition);
237 }
238 else
239 {
240 // TaintedObject is not used here so the raw position is set now and not at taint-time.
241 child.Position = LinksetRoot.RawPosition + lci.OffsetPos;
242 child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
243 }
244 }
245 else
246 {
247 // This happens when children have been added to the linkset but the linkset
248 // has not been constructed yet. So like, at taint time, adding children to a linkset
249 // and then changing properties of the children (makePhysical, for instance)
250 // but the post-print action of actually rebuilding the linkset has not yet happened.
251 // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
252 // LogHeader, child.LocalID);
253 DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
254 }
255 }
256
257 // ================================================================
258
259 // Add a new child to the linkset.
260 // Called while LinkActivity is locked.
261 protected override void AddChildToLinkset(BSPhysObject child)
262 {
263 if (!HasChild(child))
264 {
265 m_children.Add(child);
266
267 DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
268
269 // Rebuild the compound shape with the new child shape included
270 ScheduleRebuild(child);
271 }
272 return;
273 }
274
275 // Remove the specified child from the linkset.
276 // Safe to call even if the child is not really in the linkset.
277 protected override void RemoveChildFromLinkset(BSPhysObject child)
278 {
279 if (m_children.Remove(child))
280 {
281 DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
282 child.LocalID,
283 LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(),
284 child.LocalID, child.PhysBody.ptr.ToString());
285
286 // Cause the child's body to be rebuilt and thus restored to normal operation
287 RecomputeChildWorldPosition(child, false);
288 child.ForceBodyShapeRebuild(false);
289
290 if (!HasAnyChildren)
291 {
292 // The linkset is now empty. The root needs rebuilding.
293 LinksetRoot.ForceBodyShapeRebuild(false);
294 }
295 else
296 {
297 // Rebuild the compound shape with the child removed
298 ScheduleRebuild(child);
299 }
300 }
301 return;
302 }
303
304 // Called before the simulation step to make sure the compound based linkset
305 // is all initialized.
306 // Constraint linksets are rebuilt every time.
307 // Note that this works for rebuilding just the root after a linkset is taken apart.
308 // Called at taint time!!
309 private void RecomputeLinksetCompound()
310 {
311 try
312 {
313 // Suppress rebuilding while rebuilding
314 Rebuilding = true;
315
316 // Cause the root shape to be rebuilt as a compound object with just the root in it
317 LinksetRoot.ForceBodyShapeRebuild(true);
318
319 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
320 LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
321
322 // Add a shape for each of the other children in the linkset
323 ForEachMember(delegate(BSPhysObject cPrim)
324 {
325 if (!IsRoot(cPrim))
326 {
327 // Compute the displacement of the child from the root of the linkset.
328 // This info is saved in the child prim so the relationship does not
329 // change over time and the new child position can be computed
330 // when the linkset is being disassembled (the linkset may have moved).
331 BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
332 if (lci == null)
333 {
334 // Each child position and rotation is given relative to the root.
335 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
336 OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
337 OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
338
339 // Save relative position for recomputing child's world position after moving linkset.
340 lci = new BSLinksetCompoundInfo(displacementPos, displacementRot);
341 cPrim.LinksetInfo = lci;
342 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
343 }
344
345 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
346 LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
347
348 if (cPrim.PhysShape.isNativeShape)
349 {
350 // A native shape is turning into a hull collision shape because native
351 // shapes are not shared so we have to hullify it so it will be tracked
352 // and freed at the correct time. This also solves the scaling problem
353 // (native shapes scaled but hull/meshes are assumed to not be).
354 // TODO: decide of the native shape can just be used in the compound shape.
355 // Use call to CreateGeomNonSpecial().
356 BulletShape saveShape = cPrim.PhysShape;
357 cPrim.PhysShape.Clear(); // Don't let the create free the child's shape
358 // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
359 PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
360 BulletShape newShape = cPrim.PhysShape;
361 cPrim.PhysShape = saveShape;
362 BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot);
363 }
364 else
365 {
366 // For the shared shapes (meshes and hulls), just use the shape in the child.
367 // The reference count added here will be decremented when the compound shape
368 // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
369 if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
370 {
371 PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
372 LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
373 }
374 BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot);
375 }
376 }
377 return false; // 'false' says to move onto the next child in the list
378 });
379
380 // With all of the linkset packed into the root prim, it has the mass of everyone.
381 LinksetMass = LinksetMass;
382 LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
383 }
384 finally
385 {
386 Rebuilding = false;
387 }
388
389 BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
390
391 // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
392 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
393 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
394
395 }
396}
397} \ No newline at end of file
generated by cgit v1.1 at 2024-11-18 06:32:11 +0000