diff options
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 404 |
1 files changed, 203 insertions, 201 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 98ea833..f89b376 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -38,12 +38,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
38 | * Class to wrap all objects. | 38 | * Class to wrap all objects. |
39 | * The rest of BulletSim doesn't need to keep checking for avatars or prims | 39 | * The rest of BulletSim doesn't need to keep checking for avatars or prims |
40 | * unless the difference is significant. | 40 | * unless the difference is significant. |
41 | * | 41 | * |
42 | * Variables in the physicsl objects are in three forms: | 42 | * Variables in the physicsl objects are in three forms: |
43 | * VariableName: used by the simulator and performs taint operations, etc | 43 | * VariableName: used by the simulator and performs taint operations, etc |
44 | * RawVariableName: direct reference to the BulletSim storage for the variable value | 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. | 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. | 46 | * The last one should only be referenced in taint-time. |
47 | */ | 47 | */ |
48 | 48 | ||
49 | /* | 49 | /* |
@@ -52,7 +52,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
52 | * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce | 52 | * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce |
53 | * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse | 53 | * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse |
54 | * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v | 54 | * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v |
55 | * BS.ApplyCentralForce BS.ApplyTorque | 55 | * BS.ApplyCentralForce BS.ApplyTorque |
56 | */ | 56 | */ |
57 | 57 | ||
58 | // Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc. | 58 | // Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc. |
@@ -72,22 +72,27 @@ public abstract class BSPhysObject : PhysicsActor | |||
72 | } | 72 | } |
73 | protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) | 73 | protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) |
74 | { | 74 | { |
75 | PhysicsScene = parentScene; | 75 | IsInitialized = false; |
76 | |||
77 | PhysScene = parentScene; | ||
76 | LocalID = localID; | 78 | LocalID = localID; |
77 | PhysObjectName = name; | 79 | PhysObjectName = name; |
78 | Name = name; // PhysicsActor also has the name of the object. Someday consolidate. | 80 | Name = name; // PhysicsActor also has the name of the object. Someday consolidate. |
79 | TypeName = typeName; | 81 | TypeName = typeName; |
80 | 82 | ||
81 | // The collection of things that push me around | 83 | // The collection of things that push me around |
82 | PhysicalActors = new BSActorCollection(PhysicsScene); | 84 | PhysicalActors = new BSActorCollection(PhysScene); |
83 | 85 | ||
84 | // Initialize variables kept in base. | 86 | // Initialize variables kept in base. |
85 | GravModifier = 1.0f; | 87 | GravModifier = 1.0f; |
86 | Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); | 88 | Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); |
89 | HoverActive = false; | ||
87 | 90 | ||
88 | // We don't have any physical representation yet. | 91 | // We don't have any physical representation yet. |
89 | PhysBody = new BulletBody(localID); | 92 | PhysBody = new BulletBody(localID); |
90 | PhysShape = new BulletShape(); | 93 | PhysShape = new BSShapeNull(); |
94 | |||
95 | UserSetCenterOfMassDisplacement = null; | ||
91 | 96 | ||
92 | PrimAssetState = PrimAssetCondition.Unknown; | 97 | PrimAssetState = PrimAssetCondition.Unknown; |
93 | 98 | ||
@@ -95,34 +100,41 @@ public abstract class BSPhysObject : PhysicsActor | |||
95 | SetMaterial((int)MaterialAttributes.Material.Wood); | 100 | SetMaterial((int)MaterialAttributes.Material.Wood); |
96 | 101 | ||
97 | CollisionCollection = new CollisionEventUpdate(); | 102 | CollisionCollection = new CollisionEventUpdate(); |
98 | CollisionsLastTick = CollisionCollection; | 103 | CollisionsLastReported = CollisionCollection; |
104 | CollisionsLastTick = new CollisionEventUpdate(); | ||
105 | CollisionsLastTickStep = -1; | ||
106 | |||
99 | SubscribedEventsMs = 0; | 107 | SubscribedEventsMs = 0; |
100 | CollidingStep = 0; | 108 | // Crazy values that will never be true |
101 | CollidingGroundStep = 0; | 109 | CollidingStep = BSScene.NotASimulationStep; |
102 | CollisionAccumulation = 0; | 110 | CollidingGroundStep = BSScene.NotASimulationStep; |
111 | CollisionAccumulation = BSScene.NotASimulationStep; | ||
103 | ColliderIsMoving = false; | 112 | ColliderIsMoving = false; |
104 | CollisionScore = 0; | 113 | CollisionScore = 0; |
105 | 114 | ||
106 | // All axis free. | 115 | // All axis free. |
107 | LockedAxis = LockedAxisFree; | 116 | LockedLinearAxis = LockedAxisFree; |
117 | LockedAngularAxis = LockedAxisFree; | ||
108 | } | 118 | } |
109 | 119 | ||
110 | // Tell the object to clean up. | 120 | // Tell the object to clean up. |
111 | public virtual void Destroy() | 121 | public virtual void Destroy() |
112 | { | 122 | { |
113 | UnRegisterAllPreStepActions(); | 123 | PhysicalActors.Enable(false); |
114 | UnRegisterAllPostStepActions(); | 124 | PhysScene.TaintedObject(LocalID, "BSPhysObject.Destroy", delegate() |
115 | PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate() | ||
116 | { | 125 | { |
117 | PhysicalActors.Release(); | 126 | PhysicalActors.Dispose(); |
118 | }); | 127 | }); |
119 | } | 128 | } |
120 | 129 | ||
121 | public BSScene PhysicsScene { get; protected set; } | 130 | public BSScene PhysScene { get; protected set; } |
122 | // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor | 131 | // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor |
123 | public string PhysObjectName { get; protected set; } | 132 | public string PhysObjectName { get; protected set; } |
124 | public string TypeName { get; protected set; } | 133 | public string TypeName { get; protected set; } |
125 | 134 | ||
135 | // Set to 'true' when the object is completely initialized. | ||
136 | // This mostly prevents property updates and collisions until the object is completely here. | ||
137 | public bool IsInitialized { get; protected set; } | ||
126 | 138 | ||
127 | // Return the object mass without calculating it or having side effects | 139 | // Return the object mass without calculating it or having side effects |
128 | public abstract float RawMass { get; } | 140 | public abstract float RawMass { get; } |
@@ -138,26 +150,19 @@ public abstract class BSPhysObject : PhysicsActor | |||
138 | // Reference to the physical body (btCollisionObject) of this object | 150 | // Reference to the physical body (btCollisionObject) of this object |
139 | public BulletBody PhysBody; | 151 | public BulletBody PhysBody; |
140 | // Reference to the physical shape (btCollisionShape) of this object | 152 | // Reference to the physical shape (btCollisionShape) of this object |
141 | public BulletShape PhysShape; | 153 | public BSShape PhysShape; |
142 | 154 | ||
143 | // The physical representation of the prim might require an asset fetch. | 155 | // The physical representation of the prim might require an asset fetch. |
144 | // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'. | 156 | // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'. |
145 | public enum PrimAssetCondition | 157 | public enum PrimAssetCondition |
146 | { | 158 | { |
147 | Unknown, Waiting, Failed, Fetched | 159 | Unknown, Waiting, FailedAssetFetch, FailedMeshing, Fetched |
148 | } | 160 | } |
149 | public PrimAssetCondition PrimAssetState { get; set; } | 161 | public PrimAssetCondition PrimAssetState { get; set; } |
150 | 162 | ||
151 | // The objects base shape information. Null if not a prim type shape. | 163 | // The objects base shape information. Null if not a prim type shape. |
152 | public PrimitiveBaseShape BaseShape { get; protected set; } | 164 | public PrimitiveBaseShape BaseShape { get; protected set; } |
153 | 165 | ||
154 | // Some types of objects have preferred physical representations. | ||
155 | // Returns SHAPE_UNKNOWN if there is no preference. | ||
156 | public virtual BSPhysicsShapeType PreferredPhysicalShape | ||
157 | { | ||
158 | get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } | ||
159 | } | ||
160 | |||
161 | // When the physical properties are updated, an EntityProperty holds the update values. | 166 | // When the physical properties are updated, an EntityProperty holds the update values. |
162 | // Keep the current and last EntityProperties to enable computation of differences | 167 | // Keep the current and last EntityProperties to enable computation of differences |
163 | // between the current update and the previous values. | 168 | // between the current update and the previous values. |
@@ -175,6 +180,7 @@ public abstract class BSPhysObject : PhysicsActor | |||
175 | public abstract bool IsSolid { get; } | 180 | public abstract bool IsSolid { get; } |
176 | public abstract bool IsStatic { get; } | 181 | public abstract bool IsStatic { get; } |
177 | public abstract bool IsSelected { get; } | 182 | public abstract bool IsSelected { get; } |
183 | public abstract bool IsVolumeDetect { get; } | ||
178 | 184 | ||
179 | // Materialness | 185 | // Materialness |
180 | public MaterialAttributes.Material Material { get; private set; } | 186 | public MaterialAttributes.Material Material { get; private set; } |
@@ -183,13 +189,27 @@ public abstract class BSPhysObject : PhysicsActor | |||
183 | Material = (MaterialAttributes.Material)material; | 189 | Material = (MaterialAttributes.Material)material; |
184 | 190 | ||
185 | // Setting the material sets the material attributes also. | 191 | // Setting the material sets the material attributes also. |
192 | // TODO: decide if this is necessary -- the simulator does this. | ||
186 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); | 193 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); |
187 | Friction = matAttrib.friction; | 194 | Friction = matAttrib.friction; |
188 | Restitution = matAttrib.restitution; | 195 | Restitution = matAttrib.restitution; |
189 | Density = matAttrib.density / BSParam.DensityScaleFactor; | 196 | Density = matAttrib.density; |
190 | // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density); | 197 | // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density); |
191 | } | 198 | } |
192 | 199 | ||
200 | public override float Density | ||
201 | { | ||
202 | get | ||
203 | { | ||
204 | return base.Density; | ||
205 | } | ||
206 | set | ||
207 | { | ||
208 | DetailLog("{0},BSPhysObject.Density,set,den={1}", LocalID, value); | ||
209 | base.Density = value; | ||
210 | } | ||
211 | } | ||
212 | |||
193 | // Stop all physical motion. | 213 | // Stop all physical motion. |
194 | public abstract void ZeroMotion(bool inTaintTime); | 214 | public abstract void ZeroMotion(bool inTaintTime); |
195 | public abstract void ZeroAngularMotion(bool inTaintTime); | 215 | public abstract void ZeroAngularMotion(bool inTaintTime); |
@@ -197,21 +217,55 @@ public abstract class BSPhysObject : PhysicsActor | |||
197 | // Update the physical location and motion of the object. Called with data from Bullet. | 217 | // Update the physical location and motion of the object. Called with data from Bullet. |
198 | public abstract void UpdateProperties(EntityProperties entprop); | 218 | public abstract void UpdateProperties(EntityProperties entprop); |
199 | 219 | ||
200 | public abstract OMV.Vector3 RawPosition { get; set; } | 220 | public virtual OMV.Vector3 RawPosition { get; set; } |
201 | public abstract OMV.Vector3 ForcePosition { get; set; } | 221 | public abstract OMV.Vector3 ForcePosition { get; set; } |
202 | 222 | ||
203 | public abstract OMV.Quaternion RawOrientation { get; set; } | 223 | public virtual OMV.Quaternion RawOrientation { get; set; } |
204 | public abstract OMV.Quaternion ForceOrientation { get; set; } | 224 | public abstract OMV.Quaternion ForceOrientation { get; set; } |
205 | 225 | ||
206 | public abstract OMV.Vector3 RawVelocity { get; set; } | 226 | public OMV.Vector3 RawVelocity { get; set; } |
207 | public abstract OMV.Vector3 ForceVelocity { get; set; } | 227 | public abstract OMV.Vector3 ForceVelocity { get; set; } |
208 | 228 | ||
229 | public OMV.Vector3 RawForce { get; set; } | ||
230 | public OMV.Vector3 RawTorque { get; set; } | ||
231 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) | ||
232 | { | ||
233 | AddAngularForce(force, pushforce, false); | ||
234 | } | ||
235 | public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime); | ||
236 | public abstract void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime); | ||
237 | |||
209 | public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } | 238 | public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } |
210 | 239 | ||
211 | public abstract float ForceBuoyancy { get; set; } | 240 | public abstract float ForceBuoyancy { get; set; } |
212 | 241 | ||
213 | public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } | 242 | public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } |
214 | 243 | ||
244 | public override bool PIDActive { set { MoveToTargetActive = value; } } | ||
245 | public override OMV.Vector3 PIDTarget { set { MoveToTargetTarget = value; } } | ||
246 | public override float PIDTau { set { MoveToTargetTau = value; } } | ||
247 | |||
248 | public bool MoveToTargetActive { get; set; } | ||
249 | public OMV.Vector3 MoveToTargetTarget { get; set; } | ||
250 | public float MoveToTargetTau { get; set; } | ||
251 | |||
252 | // Used for llSetHoverHeight and maybe vehicle height. Hover Height will override MoveTo target's Z | ||
253 | public override bool PIDHoverActive { set { HoverActive = value; } } | ||
254 | public override float PIDHoverHeight { set { HoverHeight = value; } } | ||
255 | public override PIDHoverType PIDHoverType { set { HoverType = value; } } | ||
256 | public override float PIDHoverTau { set { HoverTau = value; } } | ||
257 | |||
258 | public bool HoverActive { get; set; } | ||
259 | public float HoverHeight { get; set; } | ||
260 | public PIDHoverType HoverType { get; set; } | ||
261 | public float HoverTau { get; set; } | ||
262 | |||
263 | // For RotLookAt | ||
264 | public override OMV.Quaternion APIDTarget { set { return; } } | ||
265 | public override bool APIDActive { set { return; } } | ||
266 | public override float APIDStrength { set { return; } } | ||
267 | public override float APIDDamping { set { return; } } | ||
268 | |||
215 | // The current velocity forward | 269 | // The current velocity forward |
216 | public virtual float ForwardSpeed | 270 | public virtual float ForwardSpeed |
217 | { | 271 | { |
@@ -233,11 +287,69 @@ public abstract class BSPhysObject : PhysicsActor | |||
233 | 287 | ||
234 | // The user can optionally set the center of mass. The user's setting will override any | 288 | // The user can optionally set the center of mass. The user's setting will override any |
235 | // computed center-of-mass (like in linksets). | 289 | // computed center-of-mass (like in linksets). |
236 | public OMV.Vector3? UserSetCenterOfMass { get; set; } | 290 | // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass. |
291 | public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; } | ||
292 | |||
293 | public OMV.Vector3 LockedLinearAxis { get; set; } // zero means locked. one means free. | ||
294 | public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free. | ||
295 | public const float FreeAxis = 1f; | ||
296 | public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis); // All axis are free | ||
297 | |||
298 | // Enable physical actions. Bullet will keep sleeping non-moving physical objects so | ||
299 | // they need waking up when parameters are changed. | ||
300 | // Called in taint-time!! | ||
301 | public void ActivateIfPhysical(bool forceIt) | ||
302 | { | ||
303 | if (PhysBody.HasPhysicalBody) | ||
304 | { | ||
305 | if (IsPhysical) | ||
306 | { | ||
307 | // Physical objects might need activating | ||
308 | PhysScene.PE.Activate(PhysBody, forceIt); | ||
309 | } | ||
310 | else | ||
311 | { | ||
312 | // Clear the collision cache since we've changed some properties. | ||
313 | PhysScene.PE.ClearCollisionProxyCache(PhysScene.World, PhysBody); | ||
314 | } | ||
315 | } | ||
316 | } | ||
237 | 317 | ||
238 | public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. | 318 | // 'actors' act on the physical object to change or constrain its motion. These can range from |
239 | public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free | 319 | // hovering to complex vehicle motion. |
240 | public readonly String LockedAxisActorName = "BSPrim.LockedAxis"; | 320 | // May be called at non-taint time as this just adds the actor to the action list and the real |
321 | // work is done during the simulation step. | ||
322 | // Note that, if the actor is already in the list and we are disabling same, the actor is just left | ||
323 | // in the list disabled. | ||
324 | public delegate BSActor CreateActor(); | ||
325 | public void EnableActor(bool enableActor, string actorName, CreateActor creator) | ||
326 | { | ||
327 | lock (PhysicalActors) | ||
328 | { | ||
329 | BSActor theActor; | ||
330 | if (PhysicalActors.TryGetActor(actorName, out theActor)) | ||
331 | { | ||
332 | // The actor already exists so just turn it on or off | ||
333 | DetailLog("{0},BSPhysObject.EnableActor,enablingExistingActor,name={1},enable={2}", LocalID, actorName, enableActor); | ||
334 | theActor.Enabled = enableActor; | ||
335 | } | ||
336 | else | ||
337 | { | ||
338 | // The actor does not exist. If it should, create it. | ||
339 | if (enableActor) | ||
340 | { | ||
341 | DetailLog("{0},BSPhysObject.EnableActor,creatingActor,name={1}", LocalID, actorName); | ||
342 | theActor = creator(); | ||
343 | PhysicalActors.Add(actorName, theActor); | ||
344 | theActor.Enabled = true; | ||
345 | } | ||
346 | else | ||
347 | { | ||
348 | DetailLog("{0},BSPhysObject.EnableActor,notCreatingActorSinceNotEnabled,name={1}", LocalID, actorName); | ||
349 | } | ||
350 | } | ||
351 | } | ||
352 | } | ||
241 | 353 | ||
242 | #region Collisions | 354 | #region Collisions |
243 | 355 | ||
@@ -255,70 +367,98 @@ public abstract class BSPhysObject : PhysicsActor | |||
255 | protected CollisionFlags CurrentCollisionFlags { get; set; } | 367 | protected CollisionFlags CurrentCollisionFlags { get; set; } |
256 | // On a collision, check the collider and remember if the last collider was moving | 368 | // On a collision, check the collider and remember if the last collider was moving |
257 | // Used to modify the standing of avatars (avatars on stationary things stand still) | 369 | // Used to modify the standing of avatars (avatars on stationary things stand still) |
258 | protected bool ColliderIsMoving; | 370 | public bool ColliderIsMoving; |
371 | // 'true' if the last collider was a volume detect object | ||
372 | public bool ColliderIsVolumeDetect; | ||
373 | // Used by BSCharacter to manage standing (and not slipping) | ||
374 | public bool IsStationary; | ||
259 | 375 | ||
260 | // Count of collisions for this object | 376 | // Count of collisions for this object |
261 | protected long CollisionAccumulation { get; set; } | 377 | protected long CollisionAccumulation { get; set; } |
262 | 378 | ||
263 | public override bool IsColliding { | 379 | public override bool IsColliding { |
264 | get { return (CollidingStep == PhysicsScene.SimulationStep); } | 380 | get { return (CollidingStep == PhysScene.SimulationStep); } |
265 | set { | 381 | set { |
266 | if (value) | 382 | if (value) |
267 | CollidingStep = PhysicsScene.SimulationStep; | 383 | CollidingStep = PhysScene.SimulationStep; |
268 | else | 384 | else |
269 | CollidingStep = 0; | 385 | CollidingStep = BSScene.NotASimulationStep; |
270 | } | 386 | } |
271 | } | 387 | } |
388 | // Complex objects (like linksets) need to know if there is a collision on any part of | ||
389 | // their shape. 'IsColliding' has an existing definition of reporting a collision on | ||
390 | // only this specific prim or component of linksets. | ||
391 | // 'HasSomeCollision' is defined as reporting if there is a collision on any part of | ||
392 | // the complex body that this prim is the root of. | ||
393 | public virtual bool HasSomeCollision | ||
394 | { | ||
395 | get { return IsColliding; } | ||
396 | set { IsColliding = value; } | ||
397 | } | ||
272 | public override bool CollidingGround { | 398 | public override bool CollidingGround { |
273 | get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } | 399 | get { return (CollidingGroundStep == PhysScene.SimulationStep); } |
274 | set | 400 | set |
275 | { | 401 | { |
276 | if (value) | 402 | if (value) |
277 | CollidingGroundStep = PhysicsScene.SimulationStep; | 403 | CollidingGroundStep = PhysScene.SimulationStep; |
278 | else | 404 | else |
279 | CollidingGroundStep = 0; | 405 | CollidingGroundStep = BSScene.NotASimulationStep; |
280 | } | 406 | } |
281 | } | 407 | } |
282 | public override bool CollidingObj { | 408 | public override bool CollidingObj { |
283 | get { return (CollidingObjectStep == PhysicsScene.SimulationStep); } | 409 | get { return (CollidingObjectStep == PhysScene.SimulationStep); } |
284 | set { | 410 | set { |
285 | if (value) | 411 | if (value) |
286 | CollidingObjectStep = PhysicsScene.SimulationStep; | 412 | CollidingObjectStep = PhysScene.SimulationStep; |
287 | else | 413 | else |
288 | CollidingObjectStep = 0; | 414 | CollidingObjectStep = BSScene.NotASimulationStep; |
289 | } | 415 | } |
290 | } | 416 | } |
291 | 417 | ||
292 | // The collisions that have been collected this tick | 418 | // The collisions that have been collected for the next collision reporting (throttled by subscription) |
293 | protected CollisionEventUpdate CollisionCollection; | 419 | protected CollisionEventUpdate CollisionCollection; |
294 | // Remember collisions from last tick for fancy collision based actions | 420 | // This is the collision collection last reported to the Simulator. |
421 | public CollisionEventUpdate CollisionsLastReported; | ||
422 | // Remember the collisions recorded in the last tick for fancy collision checking | ||
295 | // (like a BSCharacter walking up stairs). | 423 | // (like a BSCharacter walking up stairs). |
296 | protected CollisionEventUpdate CollisionsLastTick; | 424 | public CollisionEventUpdate CollisionsLastTick; |
425 | private long CollisionsLastTickStep = -1; | ||
297 | 426 | ||
298 | // The simulation step is telling this object about a collision. | 427 | // The simulation step is telling this object about a collision. |
299 | // Return 'true' if a collision was processed and should be sent up. | 428 | // Return 'true' if a collision was processed and should be sent up. |
300 | // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision. | 429 | // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision. |
301 | // Called at taint time from within the Step() function | 430 | // Called at taint time from within the Step() function |
431 | public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); | ||
302 | public virtual bool Collide(uint collidingWith, BSPhysObject collidee, | 432 | public virtual bool Collide(uint collidingWith, BSPhysObject collidee, |
303 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) | 433 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) |
304 | { | 434 | { |
305 | bool ret = false; | 435 | bool ret = false; |
306 | 436 | ||
307 | // The following lines make IsColliding(), CollidingGround() and CollidingObj work | 437 | // The following lines make IsColliding(), CollidingGround() and CollidingObj work |
308 | CollidingStep = PhysicsScene.SimulationStep; | 438 | CollidingStep = PhysScene.SimulationStep; |
309 | if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID) | 439 | if (collidingWith <= PhysScene.TerrainManager.HighestTerrainID) |
310 | { | 440 | { |
311 | CollidingGroundStep = PhysicsScene.SimulationStep; | 441 | CollidingGroundStep = PhysScene.SimulationStep; |
312 | } | 442 | } |
313 | else | 443 | else |
314 | { | 444 | { |
315 | CollidingObjectStep = PhysicsScene.SimulationStep; | 445 | CollidingObjectStep = PhysScene.SimulationStep; |
316 | } | 446 | } |
317 | 447 | ||
318 | CollisionAccumulation++; | 448 | CollisionAccumulation++; |
319 | 449 | ||
320 | // For movement tests, remember if we are colliding with an object that is moving. | 450 | // For movement tests, remember if we are colliding with an object that is moving. |
321 | ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false; | 451 | ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false; |
452 | ColliderIsVolumeDetect = collidee != null ? (collidee.IsVolumeDetect) : false; | ||
453 | |||
454 | // Make a collection of the collisions that happened the last simulation tick. | ||
455 | // This is different than the collection created for sending up to the simulator as it is cleared every tick. | ||
456 | if (CollisionsLastTickStep != PhysScene.SimulationStep) | ||
457 | { | ||
458 | CollisionsLastTick = new CollisionEventUpdate(); | ||
459 | CollisionsLastTickStep = PhysScene.SimulationStep; | ||
460 | } | ||
461 | CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); | ||
322 | 462 | ||
323 | // If someone has subscribed for collision events log the collision so it will be reported up | 463 | // If someone has subscribed for collision events log the collision so it will be reported up |
324 | if (SubscribedEvents()) { | 464 | if (SubscribedEvents()) { |
@@ -340,12 +480,12 @@ public abstract class BSPhysObject : PhysicsActor | |||
340 | bool ret = true; | 480 | bool ret = true; |
341 | 481 | ||
342 | // If the 'no collision' call, force it to happen right now so quick collision_end | 482 | // If the 'no collision' call, force it to happen right now so quick collision_end |
343 | bool force = (CollisionCollection.Count == 0 && CollisionsLastTick.Count != 0); | 483 | bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0); |
344 | 484 | ||
345 | // throttle the collisions to the number of milliseconds specified in the subscription | 485 | // throttle the collisions to the number of milliseconds specified in the subscription |
346 | if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) | 486 | if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime)) |
347 | { | 487 | { |
348 | NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; | 488 | NextCollisionOkTime = PhysScene.SimulationNowTime + SubscribedEventsMs; |
349 | 489 | ||
350 | // We are called if we previously had collisions. If there are no collisions | 490 | // We are called if we previously had collisions. If there are no collisions |
351 | // this time, send up one last empty event so OpenSim can sense collision end. | 491 | // this time, send up one last empty event so OpenSim can sense collision end. |
@@ -359,11 +499,11 @@ public abstract class BSPhysObject : PhysicsActor | |||
359 | base.SendCollisionUpdate(CollisionCollection); | 499 | base.SendCollisionUpdate(CollisionCollection); |
360 | 500 | ||
361 | // Remember the collisions from this tick for some collision specific processing. | 501 | // Remember the collisions from this tick for some collision specific processing. |
362 | CollisionsLastTick = CollisionCollection; | 502 | CollisionsLastReported = CollisionCollection; |
363 | 503 | ||
364 | // The CollisionCollection instance is passed around in the simulator. | 504 | // The CollisionCollection instance is passed around in the simulator. |
365 | // Make sure we don't have a handle to that one and that a new one is used for next time. | 505 | // Make sure we don't have a handle to that one and that a new one is used for next time. |
366 | // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, | 506 | // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, |
367 | // a race condition is created for the other users of this instance. | 507 | // a race condition is created for the other users of this instance. |
368 | CollisionCollection = new CollisionEventUpdate(); | 508 | CollisionCollection = new CollisionEventUpdate(); |
369 | } | 509 | } |
@@ -380,10 +520,10 @@ public abstract class BSPhysObject : PhysicsActor | |||
380 | // make sure first collision happens | 520 | // make sure first collision happens |
381 | NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); | 521 | NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); |
382 | 522 | ||
383 | PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() | 523 | PhysScene.TaintedObject(LocalID, TypeName+".SubscribeEvents", delegate() |
384 | { | 524 | { |
385 | if (PhysBody.HasPhysicalBody) | 525 | if (PhysBody.HasPhysicalBody) |
386 | CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 526 | CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
387 | }); | 527 | }); |
388 | } | 528 | } |
389 | else | 529 | else |
@@ -395,11 +535,11 @@ public abstract class BSPhysObject : PhysicsActor | |||
395 | public override void UnSubscribeEvents() { | 535 | public override void UnSubscribeEvents() { |
396 | // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); | 536 | // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); |
397 | SubscribedEventsMs = 0; | 537 | SubscribedEventsMs = 0; |
398 | PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() | 538 | PhysScene.TaintedObject(LocalID, TypeName+".UnSubscribeEvents", delegate() |
399 | { | 539 | { |
400 | // Make sure there is a body there because sometimes destruction happens in an un-ideal order. | 540 | // Make sure there is a body there because sometimes destruction happens in an un-ideal order. |
401 | if (PhysBody.HasPhysicalBody) | 541 | if (PhysBody.HasPhysicalBody) |
402 | CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 542 | CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
403 | }); | 543 | }); |
404 | } | 544 | } |
405 | // Return 'true' if the simulator wants collision events | 545 | // Return 'true' if the simulator wants collision events |
@@ -413,7 +553,7 @@ public abstract class BSPhysObject : PhysicsActor | |||
413 | { | 553 | { |
414 | // Scale the collision count by the time since the last collision. | 554 | // Scale the collision count by the time since the last collision. |
415 | // The "+1" prevents dividing by zero. | 555 | // The "+1" prevents dividing by zero. |
416 | long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1; | 556 | long timeAgo = PhysScene.SimulationStep - CollidingStep + 1; |
417 | CollisionScore = CollisionAccumulation / timeAgo; | 557 | CollisionScore = CollisionAccumulation / timeAgo; |
418 | } | 558 | } |
419 | public override float CollisionScore { get; set; } | 559 | public override float CollisionScore { get; set; } |
@@ -424,104 +564,6 @@ public abstract class BSPhysObject : PhysicsActor | |||
424 | 564 | ||
425 | public BSActorCollection PhysicalActors; | 565 | public BSActorCollection PhysicalActors; |
426 | 566 | ||
427 | // There are some actions that must be performed for a physical object before each simulation step. | ||
428 | // These actions are optional so, rather than scanning all the physical objects and asking them | ||
429 | // if they have anything to do, a physical object registers for an event call before the step is performed. | ||
430 | // This bookkeeping makes it easy to add, remove and clean up after all these registrations. | ||
431 | private Dictionary<string, BSScene.PreStepAction> RegisteredPrestepActions = new Dictionary<string, BSScene.PreStepAction>(); | ||
432 | private Dictionary<string, BSScene.PostStepAction> RegisteredPoststepActions = new Dictionary<string, BSScene.PostStepAction>(); | ||
433 | protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn) | ||
434 | { | ||
435 | string identifier = op + "-" + id.ToString(); | ||
436 | |||
437 | lock (RegisteredPrestepActions) | ||
438 | { | ||
439 | // Clean out any existing action | ||
440 | UnRegisterPreStepAction(op, id); | ||
441 | RegisteredPrestepActions[identifier] = actn; | ||
442 | PhysicsScene.BeforeStep += actn; | ||
443 | } | ||
444 | DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); | ||
445 | } | ||
446 | |||
447 | // Unregister a pre step action. Safe to call if the action has not been registered. | ||
448 | // Returns 'true' if an action was actually removed | ||
449 | protected bool UnRegisterPreStepAction(string op, uint id) | ||
450 | { | ||
451 | string identifier = op + "-" + id.ToString(); | ||
452 | bool removed = false; | ||
453 | lock (RegisteredPrestepActions) | ||
454 | { | ||
455 | if (RegisteredPrestepActions.ContainsKey(identifier)) | ||
456 | { | ||
457 | PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier]; | ||
458 | RegisteredPrestepActions.Remove(identifier); | ||
459 | removed = true; | ||
460 | } | ||
461 | } | ||
462 | DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed); | ||
463 | return removed; | ||
464 | } | ||
465 | |||
466 | protected void UnRegisterAllPreStepActions() | ||
467 | { | ||
468 | lock (RegisteredPrestepActions) | ||
469 | { | ||
470 | foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredPrestepActions) | ||
471 | { | ||
472 | PhysicsScene.BeforeStep -= kvp.Value; | ||
473 | } | ||
474 | RegisteredPrestepActions.Clear(); | ||
475 | } | ||
476 | DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID); | ||
477 | } | ||
478 | |||
479 | protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn) | ||
480 | { | ||
481 | string identifier = op + "-" + id.ToString(); | ||
482 | |||
483 | lock (RegisteredPoststepActions) | ||
484 | { | ||
485 | // Clean out any existing action | ||
486 | UnRegisterPostStepAction(op, id); | ||
487 | RegisteredPoststepActions[identifier] = actn; | ||
488 | PhysicsScene.AfterStep += actn; | ||
489 | } | ||
490 | DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier); | ||
491 | } | ||
492 | |||
493 | // Unregister a pre step action. Safe to call if the action has not been registered. | ||
494 | // Returns 'true' if an action was actually removed. | ||
495 | protected bool UnRegisterPostStepAction(string op, uint id) | ||
496 | { | ||
497 | string identifier = op + "-" + id.ToString(); | ||
498 | bool removed = false; | ||
499 | lock (RegisteredPoststepActions) | ||
500 | { | ||
501 | if (RegisteredPoststepActions.ContainsKey(identifier)) | ||
502 | { | ||
503 | PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier]; | ||
504 | RegisteredPoststepActions.Remove(identifier); | ||
505 | removed = true; | ||
506 | } | ||
507 | } | ||
508 | DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed); | ||
509 | return removed; | ||
510 | } | ||
511 | |||
512 | protected void UnRegisterAllPostStepActions() | ||
513 | { | ||
514 | lock (RegisteredPoststepActions) | ||
515 | { | ||
516 | foreach (KeyValuePair<string, BSScene.PostStepAction> kvp in RegisteredPoststepActions) | ||
517 | { | ||
518 | PhysicsScene.AfterStep -= kvp.Value; | ||
519 | } | ||
520 | RegisteredPoststepActions.Clear(); | ||
521 | } | ||
522 | DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID); | ||
523 | } | ||
524 | |||
525 | // When an update to the physical properties happens, this event is fired to let | 567 | // When an update to the physical properties happens, this event is fired to let |
526 | // different actors to modify the update before it is passed around | 568 | // different actors to modify the update before it is passed around |
527 | public delegate void PreUpdatePropertyAction(ref EntityProperties entprop); | 569 | public delegate void PreUpdatePropertyAction(ref EntityProperties entprop); |
@@ -533,53 +575,13 @@ public abstract class BSPhysObject : PhysicsActor | |||
533 | actions(ref entprop); | 575 | actions(ref entprop); |
534 | } | 576 | } |
535 | 577 | ||
536 | private Dictionary<string, PreUpdatePropertyAction> RegisteredPreUpdatePropertyActions = new Dictionary<string, PreUpdatePropertyAction>(); | ||
537 | public void RegisterPreUpdatePropertyAction(string identifier, PreUpdatePropertyAction actn) | ||
538 | { | ||
539 | lock (RegisteredPreUpdatePropertyActions) | ||
540 | { | ||
541 | // Clean out any existing action | ||
542 | UnRegisterPreUpdatePropertyAction(identifier); | ||
543 | RegisteredPreUpdatePropertyActions[identifier] = actn; | ||
544 | OnPreUpdateProperty += actn; | ||
545 | } | ||
546 | DetailLog("{0},BSPhysObject.RegisterPreUpdatePropertyAction,id={1}", LocalID, identifier); | ||
547 | } | ||
548 | public bool UnRegisterPreUpdatePropertyAction(string identifier) | ||
549 | { | ||
550 | bool removed = false; | ||
551 | lock (RegisteredPreUpdatePropertyActions) | ||
552 | { | ||
553 | if (RegisteredPreUpdatePropertyActions.ContainsKey(identifier)) | ||
554 | { | ||
555 | OnPreUpdateProperty -= RegisteredPreUpdatePropertyActions[identifier]; | ||
556 | RegisteredPreUpdatePropertyActions.Remove(identifier); | ||
557 | removed = true; | ||
558 | } | ||
559 | } | ||
560 | DetailLog("{0},BSPhysObject.UnRegisterPreUpdatePropertyAction,id={1},removed={2}", LocalID, identifier, removed); | ||
561 | return removed; | ||
562 | } | ||
563 | public void UnRegisterAllPreUpdatePropertyActions() | ||
564 | { | ||
565 | lock (RegisteredPreUpdatePropertyActions) | ||
566 | { | ||
567 | foreach (KeyValuePair<string, PreUpdatePropertyAction> kvp in RegisteredPreUpdatePropertyActions) | ||
568 | { | ||
569 | OnPreUpdateProperty -= kvp.Value; | ||
570 | } | ||
571 | RegisteredPreUpdatePropertyActions.Clear(); | ||
572 | } | ||
573 | DetailLog("{0},BSPhysObject.UnRegisterAllPreUpdatePropertyAction,", LocalID); | ||
574 | } | ||
575 | |||
576 | #endregion // Per Simulation Step actions | 578 | #endregion // Per Simulation Step actions |
577 | 579 | ||
578 | // High performance detailed logging routine used by the physical objects. | 580 | // High performance detailed logging routine used by the physical objects. |
579 | protected void DetailLog(string msg, params Object[] args) | 581 | protected void DetailLog(string msg, params Object[] args) |
580 | { | 582 | { |
581 | if (PhysicsScene.PhysicsLogging.Enabled) | 583 | if (PhysScene.PhysicsLogging.Enabled) |
582 | PhysicsScene.DetailLog(msg, args); | 584 | PhysScene.DetailLog(msg, args); |
583 | } | 585 | } |
584 | 586 | ||
585 | } | 587 | } |