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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs327
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diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/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.BulletSPlugin
34{
35public sealed class BSLinksetConstraints : BSLinkset
36{
37 // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
38
39 public BSLinksetConstraints(BSScene scene, BSPhysObject parent)
40 {
41 base.Initialize(scene, parent);
42 }
43
44 // When physical properties are changed the linkset needs to recalculate
45 // its internal properties.
46 // This is queued in the 'post taint' queue so the
47 // refresh will happen once after all the other taints are applied.
48 public override void Refresh(BSPhysObject requestor)
49 {
50 // Queue to happen after all the other taint processing
51 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
52 {
53 if (HasAnyChildren && IsRoot(requestor))
54 RecomputeLinksetConstraints();
55 });
56 }
57
58 // The object is going dynamic (physical). Do any setup necessary
59 // for a dynamic linkset.
60 // Only the state of the passed object can be modified. The rest of the linkset
61 // has not yet been fully constructed.
62 // Return 'true' if any properties updated on the passed object.
63 // Called at taint-time!
64 public override bool MakeDynamic(BSPhysObject child)
65 {
66 // What is done for each object in BSPrim is what we want.
67 return false;
68 }
69
70 // The object is going static (non-physical). Do any setup necessary for a static linkset.
71 // Return 'true' if any properties updated on the passed object.
72 // This doesn't normally happen -- OpenSim removes the objects from the physical
73 // world if it is a static linkset.
74 // Called at taint-time!
75 public override bool MakeStatic(BSPhysObject child)
76 {
77 // What is done for each object in BSPrim is what we want.
78 return false;
79 }
80
81 // Called at taint-time!!
82 public override void UpdateProperties(BSPhysObject updated)
83 {
84 // Nothing to do for constraints on property updates
85 }
86
87 // The children of the linkset are moved around by the constraints.
88 // Just grab the current values of wherever it is right now.
89 public override OMV.Vector3 Position(BSPhysObject member)
90 {
91 return BulletSimAPI.GetPosition2(member.PhysBody.ptr);
92 }
93
94 public override OMV.Quaternion Orientation(BSPhysObject member)
95 {
96 return BulletSimAPI.GetOrientation2(member.PhysBody.ptr);
97 }
98
99 // Routine called when rebuilding the body of some member of the linkset.
100 // Destroy all the constraints have have been made to root and set
101 // up to rebuild the constraints before the next simulation step.
102 // Returns 'true' of something was actually removed and would need restoring
103 // Called at taint-time!!
104 public override bool RemoveBodyDependencies(BSPrim child)
105 {
106 bool ret = false;
107
108 DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
109 child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));
110
111 lock (m_linksetActivityLock)
112 {
113 // Just undo all the constraints for this linkset. Rebuild at the end of the step.
114 ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
115 // Cause the constraints, et al to be rebuilt before the next simulation step.
116 Refresh(LinksetRoot);
117 }
118 return ret;
119 }
120
121 // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
122 // this routine will restore the removed constraints.
123 // Called at taint-time!!
124 public override void RestoreBodyDependencies(BSPrim child)
125 {
126 // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
127 }
128
129 // ================================================================
130
131 // Add a new child to the linkset.
132 // Called while LinkActivity is locked.
133 protected override void AddChildToLinkset(BSPhysObject child)
134 {
135 if (!HasChild(child))
136 {
137 m_children.Add(child);
138
139 DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
140
141 // Cause constraints and assorted properties to be recomputed before the next simulation step.
142 Refresh(LinksetRoot);
143 }
144 return;
145 }
146
147 // Remove the specified child from the linkset.
148 // Safe to call even if the child is not really in my linkset.
149 protected override void RemoveChildFromLinkset(BSPhysObject child)
150 {
151 if (m_children.Remove(child))
152 {
153 BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
154 BSPhysObject childx = child;
155
156 DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
157 childx.LocalID,
158 rootx.LocalID, rootx.PhysBody.ptr.ToString("X"),
159 childx.LocalID, childx.PhysBody.ptr.ToString("X"));
160
161 PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
162 {
163 PhysicallyUnlinkAChildFromRoot(rootx, childx);
164 });
165 // See that the linkset parameters are recomputed at the end of the taint time.
166 Refresh(LinksetRoot);
167 }
168 else
169 {
170 // Non-fatal occurance.
171 // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
172 }
173 return;
174 }
175
176 // Create a constraint between me (root of linkset) and the passed prim (the child).
177 // Called at taint time!
178 private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
179 {
180 // Don't build the constraint when asked. Put it off until just before the simulation step.
181 Refresh(rootPrim);
182 }
183
184 private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
185 {
186 // Zero motion for children so they don't interpolate
187 childPrim.ZeroMotion();
188
189 // Relative position normalized to the root prim
190 // Essentually a vector pointing from center of rootPrim to center of childPrim
191 OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
192
193 // real world coordinate of midpoint between the two objects
194 OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
195
196 DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
197 rootPrim.LocalID,
198 rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"),
199 childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"),
200 rootPrim.Position, childPrim.Position, midPoint);
201
202 // create a constraint that allows no freedom of movement between the two objects
203 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
204
205 BSConstraint6Dof constrain = new BSConstraint6Dof(
206 PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
207 // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
208
209 /* NOTE: below is an attempt to build constraint with full frame computation, etc.
210 * Using the midpoint is easier since it lets the Bullet code manipulate the transforms
211 * of the objects.
212 * Code left for future programmers.
213 // ==================================================================================
214 // relative position normalized to the root prim
215 OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
216 OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
217
218 // relative rotation of the child to the parent
219 OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
220 OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
221
222 DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
223 BS6DofConstraint constrain = new BS6DofConstraint(
224 PhysicsScene.World, rootPrim.Body, childPrim.Body,
225 OMV.Vector3.Zero,
226 OMV.Quaternion.Inverse(rootPrim.Orientation),
227 OMV.Vector3.Zero,
228 OMV.Quaternion.Inverse(childPrim.Orientation),
229 true,
230 true
231 );
232 // ==================================================================================
233 */
234
235 PhysicsScene.Constraints.AddConstraint(constrain);
236
237 // zero linear and angular limits makes the objects unable to move in relation to each other
238 constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
239 constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
240
241 // tweek the constraint to increase stability
242 constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset));
243 constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor),
244 PhysicsScene.Params.linkConstraintTransMotorMaxVel,
245 PhysicsScene.Params.linkConstraintTransMotorMaxForce);
246 constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
247 if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
248 {
249 constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
250 }
251 return constrain;
252 }
253
254 // Remove linkage between the linkset root and a particular child
255 // The root and child bodies are passed in because we need to remove the constraint between
256 // the bodies that were present at unlink time.
257 // Called at taint time!
258 private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
259 {
260 bool ret = false;
261 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
262 rootPrim.LocalID,
263 rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"),
264 childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"));
265
266 // Find the constraint for this link and get rid of it from the overall collection and from my list
267 if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
268 {
269 // Make the child refresh its location
270 BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
271 ret = true;
272 }
273
274 return ret;
275 }
276
277 // Remove linkage between myself and any possible children I might have.
278 // Returns 'true' of any constraints were destroyed.
279 // Called at taint time!
280 private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
281 {
282 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
283
284 return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
285 }
286
287 // Call each of the constraints that make up this linkset and recompute the
288 // various transforms and variables. Create constraints of not created yet.
289 // Called before the simulation step to make sure the constraint based linkset
290 // is all initialized.
291 // Called at taint time!!
292 private void RecomputeLinksetConstraints()
293 {
294 float linksetMass = LinksetMass;
295 LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
296
297 // DEBUG: see of inter-linkset collisions are causing problems
298 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
299 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
300 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
301 LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);
302
303 foreach (BSPhysObject child in m_children)
304 {
305 // A child in the linkset physically shows the mass of the whole linkset.
306 // This allows Bullet to apply enough force on the child to move the whole linkset.
307 // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
308 child.UpdatePhysicalMassProperties(linksetMass);
309
310 BSConstraint constrain;
311 if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
312 {
313 // If constraint doesn't exist yet, create it.
314 constrain = BuildConstraint(LinksetRoot, child);
315 }
316 constrain.RecomputeConstraintVariables(linksetMass);
317
318 // DEBUG: see of inter-linkset collisions are causing problems
319 // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr,
320 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
321
322 // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG
323 }
324
325 }
326}
327}
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