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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;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34
35namespace OpenSim.Region.Physics.BulletSNPlugin
36{
37/*
38 * Class to wrap all objects.
39 * The rest of BulletSim doesn't need to keep checking for avatars or prims
40 * unless the difference is significant.
41 *
42 * Variables in the physicsl objects are in three forms:
43 * VariableName: used by the simulator and performs taint operations, etc
44 * RawVariableName: direct reference to the BulletSim storage for the variable value
45 * ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
46 * The last two (and certainly the last one) should be referenced only in taint-time.
47 */
48
49/*
50 * As of 20121221, the following are the call sequences (going down) for different script physical functions:
51 * llApplyImpulse llApplyRotImpulse llSetTorque llSetForce
52 * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce
53 * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse
54 * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v
55 * BS.ApplyCentralForce BS.ApplyTorque
56 */
57
58public abstract class BSPhysObject : PhysicsActor
59{
60 protected BSPhysObject()
61 {
62 }
63 protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
64 {
65 PhysicsScene = parentScene;
66 LocalID = localID;
67 PhysObjectName = name;
68 TypeName = typeName;
69
70 Linkset = BSLinkset.Factory(PhysicsScene, this);
71 LastAssetBuildFailed = false;
72
73 // Default material type
74 Material = MaterialAttributes.Material.Wood;
75
76 CollisionCollection = new CollisionEventUpdate();
77 SubscribedEventsMs = 0;
78 CollidingStep = 0;
79 CollidingGroundStep = 0;
80 }
81
82 // Tell the object to clean up.
83 public virtual void Destroy()
84 {
85 UnRegisterAllPreStepActions();
86 }
87
88 public BSScene PhysicsScene { get; protected set; }
89 // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
90 public string PhysObjectName { get; protected set; }
91 public string TypeName { get; protected set; }
92
93 public BSLinkset Linkset { get; set; }
94 public BSLinksetInfo LinksetInfo { get; set; }
95
96 // Return the object mass without calculating it or having side effects
97 public abstract float RawMass { get; }
98 // Set the raw mass but also update physical mass properties (inertia, ...)
99 // 'inWorld' true if the object has already been added to the dynamic world.
100 public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
101
102 // The last value calculated for the prim's inertia
103 public OMV.Vector3 Inertia { get; set; }
104
105 // Reference to the physical body (btCollisionObject) of this object
106 public BulletBody PhysBody;
107 // Reference to the physical shape (btCollisionShape) of this object
108 public BulletShape PhysShape;
109
110 // 'true' if the mesh's underlying asset failed to build.
111 // This will keep us from looping after the first time the build failed.
112 public bool LastAssetBuildFailed { get; set; }
113
114 // The objects base shape information. Null if not a prim type shape.
115 public PrimitiveBaseShape BaseShape { get; protected set; }
116 // Some types of objects have preferred physical representations.
117 // Returns SHAPE_UNKNOWN if there is no preference.
118 public virtual BSPhysicsShapeType PreferredPhysicalShape
119 {
120 get { return BSPhysicsShapeType.SHAPE_UNKNOWN; }
121 }
122
123 // When the physical properties are updated, an EntityProperty holds the update values.
124 // Keep the current and last EntityProperties to enable computation of differences
125 // between the current update and the previous values.
126 public EntityProperties CurrentEntityProperties { get; set; }
127 public EntityProperties LastEntityProperties { get; set; }
128
129 public virtual OMV.Vector3 Scale { get; set; }
130 public abstract bool IsSolid { get; }
131 public abstract bool IsStatic { get; }
132
133 // Materialness
134 public MaterialAttributes.Material Material { get; private set; }
135 public override void SetMaterial(int material)
136 {
137 Material = (MaterialAttributes.Material)material;
138 }
139
140 // Stop all physical motion.
141 public abstract void ZeroMotion(bool inTaintTime);
142 public abstract void ZeroAngularMotion(bool inTaintTime);
143
144 // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
145 public virtual void StepVehicle(float timeStep) { }
146
147 // Update the physical location and motion of the object. Called with data from Bullet.
148 public abstract void UpdateProperties(EntityProperties entprop);
149
150 public abstract OMV.Vector3 RawPosition { get; set; }
151 public abstract OMV.Vector3 ForcePosition { get; set; }
152
153 public abstract OMV.Quaternion RawOrientation { get; set; }
154 public abstract OMV.Quaternion ForceOrientation { get; set; }
155
156 // The system is telling us the velocity it wants to move at.
157 // protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor
158 public override OMV.Vector3 TargetVelocity
159 {
160 get { return m_targetVelocity; }
161 set
162 {
163 m_targetVelocity = value;
164 Velocity = value;
165 }
166 }
167 public abstract OMV.Vector3 ForceVelocity { get; set; }
168
169 public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
170
171 public abstract float ForceBuoyancy { get; set; }
172
173 public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
174
175 #region Collisions
176
177 // Requested number of milliseconds between collision events. Zero means disabled.
178 protected int SubscribedEventsMs { get; set; }
179 // Given subscription, the time that a collision may be passed up
180 protected int NextCollisionOkTime { get; set; }
181 // The simulation step that last had a collision
182 protected long CollidingStep { get; set; }
183 // The simulation step that last had a collision with the ground
184 protected long CollidingGroundStep { get; set; }
185 // The collision flags we think are set in Bullet
186 protected CollisionFlags CurrentCollisionFlags { get; set; }
187
188 // The collisions that have been collected this tick
189 protected CollisionEventUpdate CollisionCollection;
190
191 // The simulation step is telling this object about a collision.
192 // Return 'true' if a collision was processed and should be sent up.
193 // Called at taint time from within the Step() function
194 public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
195 OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
196 {
197 bool ret = false;
198
199 // The following lines make IsColliding() and IsCollidingGround() work
200 CollidingStep = PhysicsScene.SimulationStep;
201 if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
202 {
203 CollidingGroundStep = PhysicsScene.SimulationStep;
204 }
205
206 // prims in the same linkset cannot collide with each other
207 if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
208 {
209 return ret;
210 }
211
212 // if someone has subscribed for collision events....
213 if (SubscribedEvents()) {
214 CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
215 DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
216 LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
217
218 ret = true;
219 }
220 return ret;
221 }
222
223 // Send the collected collisions into the simulator.
224 // Called at taint time from within the Step() function thus no locking problems
225 // with CollisionCollection and ObjectsWithNoMoreCollisions.
226 // Return 'true' if there were some actual collisions passed up
227 public virtual bool SendCollisions()
228 {
229 bool ret = true;
230 // If the 'no collision' call, force it to happen right now so quick collision_end
231 bool force = (CollisionCollection.Count == 0);
232
233 // throttle the collisions to the number of milliseconds specified in the subscription
234 if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
235 {
236 NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
237
238 // We are called if we previously had collisions. If there are no collisions
239 // this time, send up one last empty event so OpenSim can sense collision end.
240 if (CollisionCollection.Count == 0)
241 {
242 // If I have no collisions this time, remove me from the list of objects with collisions.
243 ret = false;
244 }
245
246 // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
247 base.SendCollisionUpdate(CollisionCollection);
248
249 // The CollisionCollection instance is passed around in the simulator.
250 // Make sure we don't have a handle to that one and that a new one is used for next time.
251 // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here,
252 // a race condition is created for the other users of this instance.
253 CollisionCollection = new CollisionEventUpdate();
254 }
255 return ret;
256 }
257
258 // Subscribe for collision events.
259 // Parameter is the millisecond rate the caller wishes collision events to occur.
260 public override void SubscribeEvents(int ms) {
261 // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
262 SubscribedEventsMs = ms;
263 if (ms > 0)
264 {
265 // make sure first collision happens
266 NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
267
268 PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
269 {
270 if (PhysBody.HasPhysicalBody)
271 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
272 });
273 }
274 else
275 {
276 // Subscribing for zero or less is the same as unsubscribing
277 UnSubscribeEvents();
278 }
279 }
280 public override void UnSubscribeEvents() {
281 // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
282 SubscribedEventsMs = 0;
283 PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
284 {
285 // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
286 if (PhysBody.HasPhysicalBody)
287 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
288 });
289 }
290 // Return 'true' if the simulator wants collision events
291 public override bool SubscribedEvents() {
292 return (SubscribedEventsMs > 0);
293 }
294
295 #endregion // Collisions
296
297 #region Per Simulation Step actions
298 // There are some actions that must be performed for a physical object before each simulation step.
299 // These actions are optional so, rather than scanning all the physical objects and asking them
300 // if they have anything to do, a physical object registers for an event call before the step is performed.
301 // This bookkeeping makes it easy to add, remove and clean up after all these registrations.
302 private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
303 protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
304 {
305 string identifier = op + "-" + id.ToString();
306 RegisteredActions[identifier] = actn;
307 PhysicsScene.BeforeStep += actn;
308 DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
309 }
310
311 // Unregister a pre step action. Safe to call if the action has not been registered.
312 protected void UnRegisterPreStepAction(string op, uint id)
313 {
314 string identifier = op + "-" + id.ToString();
315 bool removed = false;
316 if (RegisteredActions.ContainsKey(identifier))
317 {
318 PhysicsScene.BeforeStep -= RegisteredActions[identifier];
319 RegisteredActions.Remove(identifier);
320 removed = true;
321 }
322 DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
323 }
324
325 protected void UnRegisterAllPreStepActions()
326 {
327 foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
328 {
329 PhysicsScene.BeforeStep -= kvp.Value;
330 }
331 RegisteredActions.Clear();
332 DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
333 }
334
335
336 #endregion // Per Simulation Step actions
337
338 // High performance detailed logging routine used by the physical objects.
339 protected void DetailLog(string msg, params Object[] args)
340 {
341 if (PhysicsScene.PhysicsLogging.Enabled)
342 PhysicsScene.DetailLog(msg, args);
343 }
344
345}
346}
generated by cgit v1.1 at 2024-12-18 15:27:05 +0000