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-rw-r--r-- | OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs | 316 |
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diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs new file mode 100644 index 0000000..46ff99f --- /dev/null +++ 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 | */ | ||
27 | using System; | ||
28 | using System.Collections.Generic; | ||
29 | using System.Text; | ||
30 | |||
31 | using OMV = OpenMetaverse; | ||
32 | |||
33 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
34 | { | ||
35 | public 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 | } | ||