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-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs316
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diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.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 OMV = OpenMetaverse;
32
33namespace OpenSim.Region.Physics.BulletSNPlugin
34{
35public sealed class BSLinksetConstraints : BSLinkset
36{
37 // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
38
39 public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
40 {
41 }
42
43 // When physical properties are changed the linkset needs to recalculate
44 // its internal properties.
45 // This is queued in the 'post taint' queue so the
46 // refresh will happen once after all the other taints are applied.
47 public override void Refresh(BSPhysObject requestor)
48 {
49 base.Refresh(requestor);
50
51 // Queue to happen after all the other taint processing
52 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
53 {
54 if (HasAnyChildren && IsRoot(requestor))
55 RecomputeLinksetConstraints();
56 });
57 }
58
59 // The object is going dynamic (physical). Do any setup necessary
60 // for a dynamic linkset.
61 // Only the state of the passed object can be modified. The rest of the linkset
62 // has not yet been fully constructed.
63 // Return 'true' if any properties updated on the passed object.
64 // Called at taint-time!
65 public override bool MakeDynamic(BSPhysObject child)
66 {
67 // What is done for each object in BSPrim is what we want.
68 return false;
69 }
70
71 // The object is going static (non-physical). Do any setup necessary for a static linkset.
72 // Return 'true' if any properties updated on the passed object.
73 // This doesn't normally happen -- OpenSim removes the objects from the physical
74 // world if it is a static linkset.
75 // Called at taint-time!
76 public override bool MakeStatic(BSPhysObject child)
77 {
78 // What is done for each object in BSPrim is what we want.
79 return false;
80 }
81
82 // Called at taint-time!!
83 public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
84 {
85 // Nothing to do for constraints on property updates
86 }
87
88 // Routine called when rebuilding the body of some member of the linkset.
89 // Destroy all the constraints have have been made to root and set
90 // up to rebuild the constraints before the next simulation step.
91 // Returns 'true' of something was actually removed and would need restoring
92 // Called at taint-time!!
93 public override bool RemoveBodyDependencies(BSPrim child)
94 {
95 bool ret = false;
96
97 DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
98 child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString());
99
100 lock (m_linksetActivityLock)
101 {
102 // Just undo all the constraints for this linkset. Rebuild at the end of the step.
103 ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
104 // Cause the constraints, et al to be rebuilt before the next simulation step.
105 Refresh(LinksetRoot);
106 }
107 return ret;
108 }
109
110 // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
111 // this routine will restore the removed constraints.
112 // Called at taint-time!!
113 public override void RestoreBodyDependencies(BSPrim child)
114 {
115 // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
116 }
117
118 // ================================================================
119
120 // Add a new child to the linkset.
121 // Called while LinkActivity is locked.
122 protected override void AddChildToLinkset(BSPhysObject child)
123 {
124 if (!HasChild(child))
125 {
126 m_children.Add(child);
127
128 DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
129
130 // Cause constraints and assorted properties to be recomputed before the next simulation step.
131 Refresh(LinksetRoot);
132 }
133 return;
134 }
135
136 // Remove the specified child from the linkset.
137 // Safe to call even if the child is not really in my linkset.
138 protected override void RemoveChildFromLinkset(BSPhysObject child)
139 {
140 if (m_children.Remove(child))
141 {
142 BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
143 BSPhysObject childx = child;
144
145 DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
146 childx.LocalID,
147 rootx.LocalID, rootx.PhysBody.ptr.ToString(),
148 childx.LocalID, childx.PhysBody.ptr.ToString());
149
150 PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
151 {
152 PhysicallyUnlinkAChildFromRoot(rootx, childx);
153 });
154 // See that the linkset parameters are recomputed at the end of the taint time.
155 Refresh(LinksetRoot);
156 }
157 else
158 {
159 // Non-fatal occurance.
160 // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
161 }
162 return;
163 }
164
165 // Create a constraint between me (root of linkset) and the passed prim (the child).
166 // Called at taint time!
167 private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
168 {
169 // Don't build the constraint when asked. Put it off until just before the simulation step.
170 Refresh(rootPrim);
171 }
172
173 private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
174 {
175 // Zero motion for children so they don't interpolate
176 childPrim.ZeroMotion(true);
177
178 // Relative position normalized to the root prim
179 // Essentually a vector pointing from center of rootPrim to center of childPrim
180 OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
181
182 // real world coordinate of midpoint between the two objects
183 OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
184
185 DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
186 rootPrim.LocalID,
187 rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
188 childPrim.LocalID, childPrim.PhysBody.ptr.ToString(),
189 rootPrim.Position, childPrim.Position, midPoint);
190
191 // create a constraint that allows no freedom of movement between the two objects
192 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
193
194 BSConstraint6Dof constrain = new BSConstraint6Dof(
195 PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
196 // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
197
198 /* NOTE: below is an attempt to build constraint with full frame computation, etc.
199 * Using the midpoint is easier since it lets the Bullet code manipulate the transforms
200 * of the objects.
201 * Code left for future programmers.
202 // ==================================================================================
203 // relative position normalized to the root prim
204 OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
205 OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
206
207 // relative rotation of the child to the parent
208 OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
209 OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
210
211 DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
212 BS6DofConstraint constrain = new BS6DofConstraint(
213 PhysicsScene.World, rootPrim.Body, childPrim.Body,
214 OMV.Vector3.Zero,
215 OMV.Quaternion.Inverse(rootPrim.Orientation),
216 OMV.Vector3.Zero,
217 OMV.Quaternion.Inverse(childPrim.Orientation),
218 true,
219 true
220 );
221 // ==================================================================================
222 */
223
224 PhysicsScene.Constraints.AddConstraint(constrain);
225
226 // zero linear and angular limits makes the objects unable to move in relation to each other
227 constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
228 constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
229
230 // tweek the constraint to increase stability
231 constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset));
232 constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor),
233 BSParam.LinkConstraintTransMotorMaxVel,
234 BSParam.LinkConstraintTransMotorMaxForce);
235 constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
236 if (BSParam.LinkConstraintSolverIterations != 0f)
237 {
238 constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations);
239 }
240 return constrain;
241 }
242
243 // Remove linkage between the linkset root and a particular child
244 // The root and child bodies are passed in because we need to remove the constraint between
245 // the bodies that were present at unlink time.
246 // Called at taint time!
247 private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
248 {
249 bool ret = false;
250 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
251 rootPrim.LocalID,
252 rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
253 childPrim.LocalID, childPrim.PhysBody.ptr.ToString());
254
255 // Find the constraint for this link and get rid of it from the overall collection and from my list
256 if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
257 {
258 // Make the child refresh its location
259 BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
260 ret = true;
261 }
262
263 return ret;
264 }
265
266 // Remove linkage between myself and any possible children I might have.
267 // Returns 'true' of any constraints were destroyed.
268 // Called at taint time!
269 private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
270 {
271 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
272
273 return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
274 }
275
276 // Call each of the constraints that make up this linkset and recompute the
277 // various transforms and variables. Create constraints of not created yet.
278 // Called before the simulation step to make sure the constraint based linkset
279 // is all initialized.
280 // Called at taint time!!
281 private void RecomputeLinksetConstraints()
282 {
283 float linksetMass = LinksetMass;
284 LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
285
286 // DEBUG: see of inter-linkset collisions are causing problems
287 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
288 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
289 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
290 LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), linksetMass);
291
292 foreach (BSPhysObject child in m_children)
293 {
294 // A child in the linkset physically shows the mass of the whole linkset.
295 // This allows Bullet to apply enough force on the child to move the whole linkset.
296 // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
297 child.UpdatePhysicalMassProperties(linksetMass, true);
298
299 BSConstraint constrain;
300 if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
301 {
302 // If constraint doesn't exist yet, create it.
303 constrain = BuildConstraint(LinksetRoot, child);
304 }
305 constrain.RecomputeConstraintVariables(linksetMass);
306
307 // DEBUG: see of inter-linkset collisions are causing problems
308 // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr,
309 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
310
311 // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG
312 }
313
314 }
315}
316}
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