diff options
Diffstat (limited to '')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 108 |
1 files changed, 93 insertions, 15 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 027c786..a113530 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -95,12 +95,16 @@ public abstract class BSPhysObject : PhysicsActor | |||
95 | SubscribedEventsMs = 0; | 95 | SubscribedEventsMs = 0; |
96 | CollidingStep = 0; | 96 | CollidingStep = 0; |
97 | CollidingGroundStep = 0; | 97 | CollidingGroundStep = 0; |
98 | CollisionAccumulation = 0; | ||
99 | ColliderIsMoving = false; | ||
100 | CollisionScore = 0; | ||
98 | } | 101 | } |
99 | 102 | ||
100 | // Tell the object to clean up. | 103 | // Tell the object to clean up. |
101 | public virtual void Destroy() | 104 | public virtual void Destroy() |
102 | { | 105 | { |
103 | UnRegisterAllPreStepActions(); | 106 | UnRegisterAllPreStepActions(); |
107 | UnRegisterAllPostStepActions(); | ||
104 | } | 108 | } |
105 | 109 | ||
106 | public BSScene PhysicsScene { get; protected set; } | 110 | public BSScene PhysicsScene { get; protected set; } |
@@ -174,13 +178,14 @@ public abstract class BSPhysObject : PhysicsActor | |||
174 | public abstract OMV.Vector3 RawPosition { get; set; } | 178 | public abstract OMV.Vector3 RawPosition { get; set; } |
175 | public abstract OMV.Vector3 ForcePosition { get; set; } | 179 | public abstract OMV.Vector3 ForcePosition { get; set; } |
176 | 180 | ||
177 | // Position is what the simulator thinks the positions of the prim is. | 181 | // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is. |
178 | // Because Bullet needs the zero coordinate to be the center of mass of the linkset, | 182 | // Because Bullet needs the zero coordinate to be the center of mass of the linkset, |
179 | // sometimes it is necessary to displace the position the physics engine thinks | 183 | // sometimes it is necessary to displace the position the physics engine thinks |
180 | // the position is. PositionDisplacement must be added and removed from the | 184 | // the position is. PositionDisplacement must be added and removed from the |
181 | // position as the simulator position is stored and fetched from the physics | 185 | // position as the simulator position is stored and fetched from the physics |
182 | // engine. | 186 | // engine. Similar to OrientationDisplacement. |
183 | public virtual OMV.Vector3 PositionDisplacement { get; set; } | 187 | public virtual OMV.Vector3 PositionDisplacement { get; set; } |
188 | public virtual OMV.Quaternion OrientationDisplacement { get; set; } | ||
184 | 189 | ||
185 | public abstract OMV.Quaternion RawOrientation { get; set; } | 190 | public abstract OMV.Quaternion RawOrientation { get; set; } |
186 | public abstract OMV.Quaternion ForceOrientation { get; set; } | 191 | public abstract OMV.Quaternion ForceOrientation { get; set; } |
@@ -237,6 +242,12 @@ public abstract class BSPhysObject : PhysicsActor | |||
237 | protected long CollidingObjectStep { get; set; } | 242 | protected long CollidingObjectStep { get; set; } |
238 | // The collision flags we think are set in Bullet | 243 | // The collision flags we think are set in Bullet |
239 | protected CollisionFlags CurrentCollisionFlags { get; set; } | 244 | protected CollisionFlags CurrentCollisionFlags { get; set; } |
245 | // On a collision, check the collider and remember if the last collider was moving | ||
246 | // Used to modify the standing of avatars (avatars on stationary things stand still) | ||
247 | protected bool ColliderIsMoving; | ||
248 | |||
249 | // Count of collisions for this object | ||
250 | protected long CollisionAccumulation { get; set; } | ||
240 | 251 | ||
241 | public override bool IsColliding { | 252 | public override bool IsColliding { |
242 | get { return (CollidingStep == PhysicsScene.SimulationStep); } | 253 | get { return (CollidingStep == PhysicsScene.SimulationStep); } |
@@ -299,7 +310,12 @@ public abstract class BSPhysObject : PhysicsActor | |||
299 | return ret; | 310 | return ret; |
300 | } | 311 | } |
301 | 312 | ||
302 | // if someone has subscribed for collision events.... | 313 | CollisionAccumulation++; |
314 | |||
315 | // For movement tests, remember if we are colliding with an object that is moving. | ||
316 | ColliderIsMoving = collidee != null ? collidee.RawVelocity != OMV.Vector3.Zero : false; | ||
317 | |||
318 | // If someone has subscribed for collision events log the collision so it will be reported up | ||
303 | if (SubscribedEvents()) { | 319 | if (SubscribedEvents()) { |
304 | CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); | 320 | CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); |
305 | DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", | 321 | DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", |
@@ -385,6 +401,17 @@ public abstract class BSPhysObject : PhysicsActor | |||
385 | public override bool SubscribedEvents() { | 401 | public override bool SubscribedEvents() { |
386 | return (SubscribedEventsMs > 0); | 402 | return (SubscribedEventsMs > 0); |
387 | } | 403 | } |
404 | // Because 'CollisionScore' is called many times while sorting, it should not be recomputed | ||
405 | // each time called. So this is built to be light weight for each collision and to do | ||
406 | // all the processing when the user asks for the info. | ||
407 | public void ComputeCollisionScore() | ||
408 | { | ||
409 | // Scale the collision count by the time since the last collision. | ||
410 | // The "+1" prevents dividing by zero. | ||
411 | long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1; | ||
412 | CollisionScore = CollisionAccumulation / timeAgo; | ||
413 | } | ||
414 | public override float CollisionScore { get; set; } | ||
388 | 415 | ||
389 | #endregion // Collisions | 416 | #endregion // Collisions |
390 | 417 | ||
@@ -393,52 +420,103 @@ public abstract class BSPhysObject : PhysicsActor | |||
393 | // These actions are optional so, rather than scanning all the physical objects and asking them | 420 | // These actions are optional so, rather than scanning all the physical objects and asking them |
394 | // if they have anything to do, a physical object registers for an event call before the step is performed. | 421 | // if they have anything to do, a physical object registers for an event call before the step is performed. |
395 | // This bookkeeping makes it easy to add, remove and clean up after all these registrations. | 422 | // This bookkeeping makes it easy to add, remove and clean up after all these registrations. |
396 | private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>(); | 423 | private Dictionary<string, BSScene.PreStepAction> RegisteredPrestepActions = new Dictionary<string, BSScene.PreStepAction>(); |
424 | private Dictionary<string, BSScene.PostStepAction> RegisteredPoststepActions = new Dictionary<string, BSScene.PostStepAction>(); | ||
397 | protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn) | 425 | protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn) |
398 | { | 426 | { |
399 | string identifier = op + "-" + id.ToString(); | 427 | string identifier = op + "-" + id.ToString(); |
400 | 428 | ||
401 | lock (RegisteredActions) | 429 | lock (RegisteredPrestepActions) |
402 | { | 430 | { |
403 | // Clean out any existing action | 431 | // Clean out any existing action |
404 | UnRegisterPreStepAction(op, id); | 432 | UnRegisterPreStepAction(op, id); |
405 | 433 | ||
406 | RegisteredActions[identifier] = actn; | 434 | RegisteredPrestepActions[identifier] = actn; |
435 | |||
436 | PhysicsScene.BeforeStep += actn; | ||
407 | } | 437 | } |
408 | PhysicsScene.BeforeStep += actn; | ||
409 | DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); | 438 | DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); |
410 | } | 439 | } |
411 | 440 | ||
412 | // Unregister a pre step action. Safe to call if the action has not been registered. | 441 | // Unregister a pre step action. Safe to call if the action has not been registered. |
413 | protected void UnRegisterPreStepAction(string op, uint id) | 442 | // Returns 'true' if an action was actually removed |
443 | protected bool UnRegisterPreStepAction(string op, uint id) | ||
414 | { | 444 | { |
415 | string identifier = op + "-" + id.ToString(); | 445 | string identifier = op + "-" + id.ToString(); |
416 | bool removed = false; | 446 | bool removed = false; |
417 | lock (RegisteredActions) | 447 | lock (RegisteredPrestepActions) |
418 | { | 448 | { |
419 | if (RegisteredActions.ContainsKey(identifier)) | 449 | if (RegisteredPrestepActions.ContainsKey(identifier)) |
420 | { | 450 | { |
421 | PhysicsScene.BeforeStep -= RegisteredActions[identifier]; | 451 | PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier]; |
422 | RegisteredActions.Remove(identifier); | 452 | RegisteredPrestepActions.Remove(identifier); |
423 | removed = true; | 453 | removed = true; |
424 | } | 454 | } |
425 | } | 455 | } |
426 | DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed); | 456 | DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed); |
457 | return removed; | ||
427 | } | 458 | } |
428 | 459 | ||
429 | protected void UnRegisterAllPreStepActions() | 460 | protected void UnRegisterAllPreStepActions() |
430 | { | 461 | { |
431 | lock (RegisteredActions) | 462 | lock (RegisteredPrestepActions) |
432 | { | 463 | { |
433 | foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions) | 464 | foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredPrestepActions) |
434 | { | 465 | { |
435 | PhysicsScene.BeforeStep -= kvp.Value; | 466 | PhysicsScene.BeforeStep -= kvp.Value; |
436 | } | 467 | } |
437 | RegisteredActions.Clear(); | 468 | RegisteredPrestepActions.Clear(); |
438 | } | 469 | } |
439 | DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID); | 470 | DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID); |
440 | } | 471 | } |
472 | |||
473 | protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn) | ||
474 | { | ||
475 | string identifier = op + "-" + id.ToString(); | ||
441 | 476 | ||
477 | lock (RegisteredPoststepActions) | ||
478 | { | ||
479 | // Clean out any existing action | ||
480 | UnRegisterPostStepAction(op, id); | ||
481 | |||
482 | RegisteredPoststepActions[identifier] = actn; | ||
483 | |||
484 | PhysicsScene.AfterStep += actn; | ||
485 | } | ||
486 | DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier); | ||
487 | } | ||
488 | |||
489 | // Unregister a pre step action. Safe to call if the action has not been registered. | ||
490 | // Returns 'true' if an action was actually removed. | ||
491 | protected bool UnRegisterPostStepAction(string op, uint id) | ||
492 | { | ||
493 | string identifier = op + "-" + id.ToString(); | ||
494 | bool removed = false; | ||
495 | lock (RegisteredPoststepActions) | ||
496 | { | ||
497 | if (RegisteredPoststepActions.ContainsKey(identifier)) | ||
498 | { | ||
499 | PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier]; | ||
500 | RegisteredPoststepActions.Remove(identifier); | ||
501 | removed = true; | ||
502 | } | ||
503 | } | ||
504 | DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed); | ||
505 | return removed; | ||
506 | } | ||
507 | |||
508 | protected void UnRegisterAllPostStepActions() | ||
509 | { | ||
510 | lock (RegisteredPoststepActions) | ||
511 | { | ||
512 | foreach (KeyValuePair<string, BSScene.PostStepAction> kvp in RegisteredPoststepActions) | ||
513 | { | ||
514 | PhysicsScene.AfterStep -= kvp.Value; | ||
515 | } | ||
516 | RegisteredPoststepActions.Clear(); | ||
517 | } | ||
518 | DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID); | ||
519 | } | ||
442 | 520 | ||
443 | #endregion // Per Simulation Step actions | 521 | #endregion // Per Simulation Step actions |
444 | 522 | ||