diff options
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 394 |
1 files changed, 198 insertions, 196 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6bb88c7..9dc52d5 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. |
@@ -72,19 +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 | ||
83 | // The collection of things that push me around | ||
84 | PhysicalActors = new BSActorCollection(PhysScene); | ||
85 | |||
81 | // Initialize variables kept in base. | 86 | // Initialize variables kept in base. |
82 | GravModifier = 1.0f; | 87 | GravModifier = 1.0f; |
83 | Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); | 88 | Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); |
89 | HoverActive = false; | ||
84 | 90 | ||
85 | // We don't have any physical representation yet. | 91 | // We don't have any physical representation yet. |
86 | PhysBody = new BulletBody(localID); | 92 | PhysBody = new BulletBody(localID); |
87 | PhysShape = new BulletShape(); | 93 | PhysShape = new BSShapeNull(); |
94 | |||
95 | UserSetCenterOfMassDisplacement = null; | ||
88 | 96 | ||
89 | PrimAssetState = PrimAssetCondition.Unknown; | 97 | PrimAssetState = PrimAssetCondition.Unknown; |
90 | 98 | ||
@@ -92,30 +100,41 @@ public abstract class BSPhysObject : PhysicsActor | |||
92 | SetMaterial((int)MaterialAttributes.Material.Wood); | 100 | SetMaterial((int)MaterialAttributes.Material.Wood); |
93 | 101 | ||
94 | CollisionCollection = new CollisionEventUpdate(); | 102 | CollisionCollection = new CollisionEventUpdate(); |
95 | CollisionsLastTick = CollisionCollection; | 103 | CollisionsLastReported = CollisionCollection; |
104 | CollisionsLastTick = new CollisionEventUpdate(); | ||
105 | CollisionsLastTickStep = -1; | ||
106 | |||
96 | SubscribedEventsMs = 0; | 107 | SubscribedEventsMs = 0; |
97 | CollidingStep = 0; | 108 | // Crazy values that will never be true |
98 | CollidingGroundStep = 0; | 109 | CollidingStep = BSScene.NotASimulationStep; |
99 | CollisionAccumulation = 0; | 110 | CollidingGroundStep = BSScene.NotASimulationStep; |
111 | CollisionAccumulation = BSScene.NotASimulationStep; | ||
100 | ColliderIsMoving = false; | 112 | ColliderIsMoving = false; |
101 | CollisionScore = 0; | 113 | CollisionScore = 0; |
102 | 114 | ||
103 | // All axis free. | 115 | // All axis free. |
104 | LockedAxis = LockedAxisFree; | 116 | LockedLinearAxis = LockedAxisFree; |
117 | LockedAngularAxis = LockedAxisFree; | ||
105 | } | 118 | } |
106 | 119 | ||
107 | // Tell the object to clean up. | 120 | // Tell the object to clean up. |
108 | public virtual void Destroy() | 121 | public virtual void Destroy() |
109 | { | 122 | { |
110 | UnRegisterAllPreStepActions(); | 123 | PhysicalActors.Enable(false); |
111 | UnRegisterAllPostStepActions(); | 124 | PhysScene.TaintedObject("BSPhysObject.Destroy", delegate() |
125 | { | ||
126 | PhysicalActors.Dispose(); | ||
127 | }); | ||
112 | } | 128 | } |
113 | 129 | ||
114 | public BSScene PhysicsScene { get; protected set; } | 130 | public BSScene PhysScene { get; protected set; } |
115 | // 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 |
116 | public string PhysObjectName { get; protected set; } | 132 | public string PhysObjectName { get; protected set; } |
117 | public string TypeName { get; protected set; } | 133 | public string TypeName { get; protected set; } |
118 | 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; } | ||
119 | 138 | ||
120 | // Return the object mass without calculating it or having side effects | 139 | // Return the object mass without calculating it or having side effects |
121 | public abstract float RawMass { get; } | 140 | public abstract float RawMass { get; } |
@@ -131,26 +150,19 @@ public abstract class BSPhysObject : PhysicsActor | |||
131 | // Reference to the physical body (btCollisionObject) of this object | 150 | // Reference to the physical body (btCollisionObject) of this object |
132 | public BulletBody PhysBody; | 151 | public BulletBody PhysBody; |
133 | // Reference to the physical shape (btCollisionShape) of this object | 152 | // Reference to the physical shape (btCollisionShape) of this object |
134 | public BulletShape PhysShape; | 153 | public BSShape PhysShape; |
135 | 154 | ||
136 | // The physical representation of the prim might require an asset fetch. | 155 | // The physical representation of the prim might require an asset fetch. |
137 | // 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'. |
138 | public enum PrimAssetCondition | 157 | public enum PrimAssetCondition |
139 | { | 158 | { |
140 | Unknown, Waiting, Failed, Fetched | 159 | Unknown, Waiting, FailedAssetFetch, FailedMeshing, Fetched |
141 | } | 160 | } |
142 | public PrimAssetCondition PrimAssetState { get; set; } | 161 | public PrimAssetCondition PrimAssetState { get; set; } |
143 | 162 | ||
144 | // 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. |
145 | public PrimitiveBaseShape BaseShape { get; protected set; } | 164 | public PrimitiveBaseShape BaseShape { get; protected set; } |
146 | 165 | ||
147 | // Some types of objects have preferred physical representations. | ||
148 | // Returns SHAPE_UNKNOWN if there is no preference. | ||
149 | public virtual BSPhysicsShapeType PreferredPhysicalShape | ||
150 | { | ||
151 | get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } | ||
152 | } | ||
153 | |||
154 | // 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. |
155 | // Keep the current and last EntityProperties to enable computation of differences | 167 | // Keep the current and last EntityProperties to enable computation of differences |
156 | // between the current update and the previous values. | 168 | // between the current update and the previous values. |
@@ -168,6 +180,7 @@ public abstract class BSPhysObject : PhysicsActor | |||
168 | public abstract bool IsSolid { get; } | 180 | public abstract bool IsSolid { get; } |
169 | public abstract bool IsStatic { get; } | 181 | public abstract bool IsStatic { get; } |
170 | public abstract bool IsSelected { get; } | 182 | public abstract bool IsSelected { get; } |
183 | public abstract bool IsVolumeDetect { get; } | ||
171 | 184 | ||
172 | // Materialness | 185 | // Materialness |
173 | public MaterialAttributes.Material Material { get; private set; } | 186 | public MaterialAttributes.Material Material { get; private set; } |
@@ -176,11 +189,25 @@ public abstract class BSPhysObject : PhysicsActor | |||
176 | Material = (MaterialAttributes.Material)material; | 189 | Material = (MaterialAttributes.Material)material; |
177 | 190 | ||
178 | // 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. | ||
179 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); | 193 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); |
180 | Friction = matAttrib.friction; | 194 | Friction = matAttrib.friction; |
181 | Restitution = matAttrib.restitution; | 195 | Restitution = matAttrib.restitution; |
182 | Density = matAttrib.density / BSParam.DensityScaleFactor; | 196 | Density = matAttrib.density; |
183 | 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); |
198 | } | ||
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 | } | ||
184 | } | 211 | } |
185 | 212 | ||
186 | // Stop all physical motion. | 213 | // Stop all physical motion. |
@@ -190,21 +217,55 @@ public abstract class BSPhysObject : PhysicsActor | |||
190 | // 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. |
191 | public abstract void UpdateProperties(EntityProperties entprop); | 218 | public abstract void UpdateProperties(EntityProperties entprop); |
192 | 219 | ||
193 | public abstract OMV.Vector3 RawPosition { get; set; } | 220 | public virtual OMV.Vector3 RawPosition { get; set; } |
194 | public abstract OMV.Vector3 ForcePosition { get; set; } | 221 | public abstract OMV.Vector3 ForcePosition { get; set; } |
195 | 222 | ||
196 | public abstract OMV.Quaternion RawOrientation { get; set; } | 223 | public virtual OMV.Quaternion RawOrientation { get; set; } |
197 | public abstract OMV.Quaternion ForceOrientation { get; set; } | 224 | public abstract OMV.Quaternion ForceOrientation { get; set; } |
198 | 225 | ||
199 | public abstract OMV.Vector3 RawVelocity { get; set; } | 226 | public OMV.Vector3 RawVelocity { get; set; } |
200 | public abstract OMV.Vector3 ForceVelocity { get; set; } | 227 | public abstract OMV.Vector3 ForceVelocity { get; set; } |
201 | 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 | |||
202 | public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } | 238 | public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } |
203 | 239 | ||
204 | public abstract float ForceBuoyancy { get; set; } | 240 | public abstract float ForceBuoyancy { get; set; } |
205 | 241 | ||
206 | public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } | 242 | public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } |
207 | 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 | |||
208 | // The current velocity forward | 269 | // The current velocity forward |
209 | public virtual float ForwardSpeed | 270 | public virtual float ForwardSpeed |
210 | { | 271 | { |
@@ -226,10 +287,58 @@ public abstract class BSPhysObject : PhysicsActor | |||
226 | 287 | ||
227 | // 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 |
228 | // computed center-of-mass (like in linksets). | 289 | // computed center-of-mass (like in linksets). |
229 | 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 (IsPhysical && PhysBody.HasPhysicalBody) | ||
304 | PhysScene.PE.Activate(PhysBody, forceIt); | ||
305 | } | ||
230 | 306 | ||
231 | public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. | 307 | // 'actors' act on the physical object to change or constrain its motion. These can range from |
232 | public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free | 308 | // hovering to complex vehicle motion. |
309 | // May be called at non-taint time as this just adds the actor to the action list and the real | ||
310 | // work is done during the simulation step. | ||
311 | // Note that, if the actor is already in the list and we are disabling same, the actor is just left | ||
312 | // in the list disabled. | ||
313 | public delegate BSActor CreateActor(); | ||
314 | public void EnableActor(bool enableActor, string actorName, CreateActor creator) | ||
315 | { | ||
316 | lock (PhysicalActors) | ||
317 | { | ||
318 | BSActor theActor; | ||
319 | if (PhysicalActors.TryGetActor(actorName, out theActor)) | ||
320 | { | ||
321 | // The actor already exists so just turn it on or off | ||
322 | DetailLog("{0},BSPhysObject.EnableActor,enablingExistingActor,name={1},enable={2}", LocalID, actorName, enableActor); | ||
323 | theActor.Enabled = enableActor; | ||
324 | } | ||
325 | else | ||
326 | { | ||
327 | // The actor does not exist. If it should, create it. | ||
328 | if (enableActor) | ||
329 | { | ||
330 | DetailLog("{0},BSPhysObject.EnableActor,creatingActor,name={1}", LocalID, actorName); | ||
331 | theActor = creator(); | ||
332 | PhysicalActors.Add(actorName, theActor); | ||
333 | theActor.Enabled = true; | ||
334 | } | ||
335 | else | ||
336 | { | ||
337 | DetailLog("{0},BSPhysObject.EnableActor,notCreatingActorSinceNotEnabled,name={1}", LocalID, actorName); | ||
338 | } | ||
339 | } | ||
340 | } | ||
341 | } | ||
233 | 342 | ||
234 | #region Collisions | 343 | #region Collisions |
235 | 344 | ||
@@ -247,70 +356,98 @@ public abstract class BSPhysObject : PhysicsActor | |||
247 | protected CollisionFlags CurrentCollisionFlags { get; set; } | 356 | protected CollisionFlags CurrentCollisionFlags { get; set; } |
248 | // On a collision, check the collider and remember if the last collider was moving | 357 | // On a collision, check the collider and remember if the last collider was moving |
249 | // Used to modify the standing of avatars (avatars on stationary things stand still) | 358 | // Used to modify the standing of avatars (avatars on stationary things stand still) |
250 | protected bool ColliderIsMoving; | 359 | public bool ColliderIsMoving; |
360 | // 'true' if the last collider was a volume detect object | ||
361 | public bool ColliderIsVolumeDetect; | ||
362 | // Used by BSCharacter to manage standing (and not slipping) | ||
363 | public bool IsStationary; | ||
251 | 364 | ||
252 | // Count of collisions for this object | 365 | // Count of collisions for this object |
253 | protected long CollisionAccumulation { get; set; } | 366 | protected long CollisionAccumulation { get; set; } |
254 | 367 | ||
255 | public override bool IsColliding { | 368 | public override bool IsColliding { |
256 | get { return (CollidingStep == PhysicsScene.SimulationStep); } | 369 | get { return (CollidingStep == PhysScene.SimulationStep); } |
257 | set { | 370 | set { |
258 | if (value) | 371 | if (value) |
259 | CollidingStep = PhysicsScene.SimulationStep; | 372 | CollidingStep = PhysScene.SimulationStep; |
260 | else | 373 | else |
261 | CollidingStep = 0; | 374 | CollidingStep = BSScene.NotASimulationStep; |
262 | } | 375 | } |
263 | } | 376 | } |
377 | // Complex objects (like linksets) need to know if there is a collision on any part of | ||
378 | // their shape. 'IsColliding' has an existing definition of reporting a collision on | ||
379 | // only this specific prim or component of linksets. | ||
380 | // 'HasSomeCollision' is defined as reporting if there is a collision on any part of | ||
381 | // the complex body that this prim is the root of. | ||
382 | public virtual bool HasSomeCollision | ||
383 | { | ||
384 | get { return IsColliding; } | ||
385 | set { IsColliding = value; } | ||
386 | } | ||
264 | public override bool CollidingGround { | 387 | public override bool CollidingGround { |
265 | get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } | 388 | get { return (CollidingGroundStep == PhysScene.SimulationStep); } |
266 | set | 389 | set |
267 | { | 390 | { |
268 | if (value) | 391 | if (value) |
269 | CollidingGroundStep = PhysicsScene.SimulationStep; | 392 | CollidingGroundStep = PhysScene.SimulationStep; |
270 | else | 393 | else |
271 | CollidingGroundStep = 0; | 394 | CollidingGroundStep = BSScene.NotASimulationStep; |
272 | } | 395 | } |
273 | } | 396 | } |
274 | public override bool CollidingObj { | 397 | public override bool CollidingObj { |
275 | get { return (CollidingObjectStep == PhysicsScene.SimulationStep); } | 398 | get { return (CollidingObjectStep == PhysScene.SimulationStep); } |
276 | set { | 399 | set { |
277 | if (value) | 400 | if (value) |
278 | CollidingObjectStep = PhysicsScene.SimulationStep; | 401 | CollidingObjectStep = PhysScene.SimulationStep; |
279 | else | 402 | else |
280 | CollidingObjectStep = 0; | 403 | CollidingObjectStep = BSScene.NotASimulationStep; |
281 | } | 404 | } |
282 | } | 405 | } |
283 | 406 | ||
284 | // The collisions that have been collected this tick | 407 | // The collisions that have been collected for the next collision reporting (throttled by subscription) |
285 | protected CollisionEventUpdate CollisionCollection; | 408 | protected CollisionEventUpdate CollisionCollection; |
286 | // Remember collisions from last tick for fancy collision based actions | 409 | // This is the collision collection last reported to the Simulator. |
410 | public CollisionEventUpdate CollisionsLastReported; | ||
411 | // Remember the collisions recorded in the last tick for fancy collision checking | ||
287 | // (like a BSCharacter walking up stairs). | 412 | // (like a BSCharacter walking up stairs). |
288 | protected CollisionEventUpdate CollisionsLastTick; | 413 | public CollisionEventUpdate CollisionsLastTick; |
414 | private long CollisionsLastTickStep = -1; | ||
289 | 415 | ||
290 | // The simulation step is telling this object about a collision. | 416 | // The simulation step is telling this object about a collision. |
291 | // Return 'true' if a collision was processed and should be sent up. | 417 | // Return 'true' if a collision was processed and should be sent up. |
292 | // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision. | 418 | // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision. |
293 | // Called at taint time from within the Step() function | 419 | // Called at taint time from within the Step() function |
420 | public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); | ||
294 | public virtual bool Collide(uint collidingWith, BSPhysObject collidee, | 421 | public virtual bool Collide(uint collidingWith, BSPhysObject collidee, |
295 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) | 422 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) |
296 | { | 423 | { |
297 | bool ret = false; | 424 | bool ret = false; |
298 | 425 | ||
299 | // The following lines make IsColliding(), CollidingGround() and CollidingObj work | 426 | // The following lines make IsColliding(), CollidingGround() and CollidingObj work |
300 | CollidingStep = PhysicsScene.SimulationStep; | 427 | CollidingStep = PhysScene.SimulationStep; |
301 | if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID) | 428 | if (collidingWith <= PhysScene.TerrainManager.HighestTerrainID) |
302 | { | 429 | { |
303 | CollidingGroundStep = PhysicsScene.SimulationStep; | 430 | CollidingGroundStep = PhysScene.SimulationStep; |
304 | } | 431 | } |
305 | else | 432 | else |
306 | { | 433 | { |
307 | CollidingObjectStep = PhysicsScene.SimulationStep; | 434 | CollidingObjectStep = PhysScene.SimulationStep; |
308 | } | 435 | } |
309 | 436 | ||
310 | CollisionAccumulation++; | 437 | CollisionAccumulation++; |
311 | 438 | ||
312 | // For movement tests, remember if we are colliding with an object that is moving. | 439 | // For movement tests, remember if we are colliding with an object that is moving. |
313 | ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false; | 440 | ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false; |
441 | ColliderIsVolumeDetect = collidee != null ? (collidee.IsVolumeDetect) : false; | ||
442 | |||
443 | // Make a collection of the collisions that happened the last simulation tick. | ||
444 | // This is different than the collection created for sending up to the simulator as it is cleared every tick. | ||
445 | if (CollisionsLastTickStep != PhysScene.SimulationStep) | ||
446 | { | ||
447 | CollisionsLastTick = new CollisionEventUpdate(); | ||
448 | CollisionsLastTickStep = PhysScene.SimulationStep; | ||
449 | } | ||
450 | CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); | ||
314 | 451 | ||
315 | // If someone has subscribed for collision events log the collision so it will be reported up | 452 | // If someone has subscribed for collision events log the collision so it will be reported up |
316 | if (SubscribedEvents()) { | 453 | if (SubscribedEvents()) { |
@@ -332,12 +469,12 @@ public abstract class BSPhysObject : PhysicsActor | |||
332 | bool ret = true; | 469 | bool ret = true; |
333 | 470 | ||
334 | // If the 'no collision' call, force it to happen right now so quick collision_end | 471 | // If the 'no collision' call, force it to happen right now so quick collision_end |
335 | bool force = (CollisionCollection.Count == 0 && CollisionsLastTick.Count != 0); | 472 | bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0); |
336 | 473 | ||
337 | // throttle the collisions to the number of milliseconds specified in the subscription | 474 | // throttle the collisions to the number of milliseconds specified in the subscription |
338 | if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) | 475 | if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime)) |
339 | { | 476 | { |
340 | NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; | 477 | NextCollisionOkTime = PhysScene.SimulationNowTime + SubscribedEventsMs; |
341 | 478 | ||
342 | // We are called if we previously had collisions. If there are no collisions | 479 | // We are called if we previously had collisions. If there are no collisions |
343 | // this time, send up one last empty event so OpenSim can sense collision end. | 480 | // this time, send up one last empty event so OpenSim can sense collision end. |
@@ -351,11 +488,11 @@ public abstract class BSPhysObject : PhysicsActor | |||
351 | base.SendCollisionUpdate(CollisionCollection); | 488 | base.SendCollisionUpdate(CollisionCollection); |
352 | 489 | ||
353 | // Remember the collisions from this tick for some collision specific processing. | 490 | // Remember the collisions from this tick for some collision specific processing. |
354 | CollisionsLastTick = CollisionCollection; | 491 | CollisionsLastReported = CollisionCollection; |
355 | 492 | ||
356 | // The CollisionCollection instance is passed around in the simulator. | 493 | // The CollisionCollection instance is passed around in the simulator. |
357 | // Make sure we don't have a handle to that one and that a new one is used for next time. | 494 | // Make sure we don't have a handle to that one and that a new one is used for next time. |
358 | // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, | 495 | // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, |
359 | // a race condition is created for the other users of this instance. | 496 | // a race condition is created for the other users of this instance. |
360 | CollisionCollection = new CollisionEventUpdate(); | 497 | CollisionCollection = new CollisionEventUpdate(); |
361 | } | 498 | } |
@@ -372,10 +509,10 @@ public abstract class BSPhysObject : PhysicsActor | |||
372 | // make sure first collision happens | 509 | // make sure first collision happens |
373 | NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); | 510 | NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); |
374 | 511 | ||
375 | PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() | 512 | PhysScene.TaintedObject(TypeName+".SubscribeEvents", delegate() |
376 | { | 513 | { |
377 | if (PhysBody.HasPhysicalBody) | 514 | if (PhysBody.HasPhysicalBody) |
378 | CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 515 | CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
379 | }); | 516 | }); |
380 | } | 517 | } |
381 | else | 518 | else |
@@ -387,11 +524,11 @@ public abstract class BSPhysObject : PhysicsActor | |||
387 | public override void UnSubscribeEvents() { | 524 | public override void UnSubscribeEvents() { |
388 | // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); | 525 | // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); |
389 | SubscribedEventsMs = 0; | 526 | SubscribedEventsMs = 0; |
390 | PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() | 527 | PhysScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() |
391 | { | 528 | { |
392 | // Make sure there is a body there because sometimes destruction happens in an un-ideal order. | 529 | // Make sure there is a body there because sometimes destruction happens in an un-ideal order. |
393 | if (PhysBody.HasPhysicalBody) | 530 | if (PhysBody.HasPhysicalBody) |
394 | CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 531 | CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
395 | }); | 532 | }); |
396 | } | 533 | } |
397 | // Return 'true' if the simulator wants collision events | 534 | // Return 'true' if the simulator wants collision events |
@@ -405,7 +542,7 @@ public abstract class BSPhysObject : PhysicsActor | |||
405 | { | 542 | { |
406 | // Scale the collision count by the time since the last collision. | 543 | // Scale the collision count by the time since the last collision. |
407 | // The "+1" prevents dividing by zero. | 544 | // The "+1" prevents dividing by zero. |
408 | long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1; | 545 | long timeAgo = PhysScene.SimulationStep - CollidingStep + 1; |
409 | CollisionScore = CollisionAccumulation / timeAgo; | 546 | CollisionScore = CollisionAccumulation / timeAgo; |
410 | } | 547 | } |
411 | public override float CollisionScore { get; set; } | 548 | public override float CollisionScore { get; set; } |
@@ -413,103 +550,8 @@ public abstract class BSPhysObject : PhysicsActor | |||
413 | #endregion // Collisions | 550 | #endregion // Collisions |
414 | 551 | ||
415 | #region Per Simulation Step actions | 552 | #region Per Simulation Step actions |
416 | // There are some actions that must be performed for a physical object before each simulation step. | ||
417 | // These actions are optional so, rather than scanning all the physical objects and asking them | ||
418 | // if they have anything to do, a physical object registers for an event call before the step is performed. | ||
419 | // This bookkeeping makes it easy to add, remove and clean up after all these registrations. | ||
420 | private Dictionary<string, BSScene.PreStepAction> RegisteredPrestepActions = new Dictionary<string, BSScene.PreStepAction>(); | ||
421 | private Dictionary<string, BSScene.PostStepAction> RegisteredPoststepActions = new Dictionary<string, BSScene.PostStepAction>(); | ||
422 | protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn) | ||
423 | { | ||
424 | string identifier = op + "-" + id.ToString(); | ||
425 | |||
426 | lock (RegisteredPrestepActions) | ||
427 | { | ||
428 | // Clean out any existing action | ||
429 | UnRegisterPreStepAction(op, id); | ||
430 | RegisteredPrestepActions[identifier] = actn; | ||
431 | PhysicsScene.BeforeStep += actn; | ||
432 | } | ||
433 | DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); | ||
434 | } | ||
435 | 553 | ||
436 | // Unregister a pre step action. Safe to call if the action has not been registered. | 554 | public BSActorCollection PhysicalActors; |
437 | // Returns 'true' if an action was actually removed | ||
438 | protected bool UnRegisterPreStepAction(string op, uint id) | ||
439 | { | ||
440 | string identifier = op + "-" + id.ToString(); | ||
441 | bool removed = false; | ||
442 | lock (RegisteredPrestepActions) | ||
443 | { | ||
444 | if (RegisteredPrestepActions.ContainsKey(identifier)) | ||
445 | { | ||
446 | PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier]; | ||
447 | RegisteredPrestepActions.Remove(identifier); | ||
448 | removed = true; | ||
449 | } | ||
450 | } | ||
451 | DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed); | ||
452 | return removed; | ||
453 | } | ||
454 | |||
455 | protected void UnRegisterAllPreStepActions() | ||
456 | { | ||
457 | lock (RegisteredPrestepActions) | ||
458 | { | ||
459 | foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredPrestepActions) | ||
460 | { | ||
461 | PhysicsScene.BeforeStep -= kvp.Value; | ||
462 | } | ||
463 | RegisteredPrestepActions.Clear(); | ||
464 | } | ||
465 | DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID); | ||
466 | } | ||
467 | |||
468 | protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn) | ||
469 | { | ||
470 | string identifier = op + "-" + id.ToString(); | ||
471 | |||
472 | lock (RegisteredPoststepActions) | ||
473 | { | ||
474 | // Clean out any existing action | ||
475 | UnRegisterPostStepAction(op, id); | ||
476 | RegisteredPoststepActions[identifier] = actn; | ||
477 | PhysicsScene.AfterStep += actn; | ||
478 | } | ||
479 | DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier); | ||
480 | } | ||
481 | |||
482 | // Unregister a pre step action. Safe to call if the action has not been registered. | ||
483 | // Returns 'true' if an action was actually removed. | ||
484 | protected bool UnRegisterPostStepAction(string op, uint id) | ||
485 | { | ||
486 | string identifier = op + "-" + id.ToString(); | ||
487 | bool removed = false; | ||
488 | lock (RegisteredPoststepActions) | ||
489 | { | ||
490 | if (RegisteredPoststepActions.ContainsKey(identifier)) | ||
491 | { | ||
492 | PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier]; | ||
493 | RegisteredPoststepActions.Remove(identifier); | ||
494 | removed = true; | ||
495 | } | ||
496 | } | ||
497 | DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed); | ||
498 | return removed; | ||
499 | } | ||
500 | |||
501 | protected void UnRegisterAllPostStepActions() | ||
502 | { | ||
503 | lock (RegisteredPoststepActions) | ||
504 | { | ||
505 | foreach (KeyValuePair<string, BSScene.PostStepAction> kvp in RegisteredPoststepActions) | ||
506 | { | ||
507 | PhysicsScene.AfterStep -= kvp.Value; | ||
508 | } | ||
509 | RegisteredPoststepActions.Clear(); | ||
510 | } | ||
511 | DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID); | ||
512 | } | ||
513 | 555 | ||
514 | // When an update to the physical properties happens, this event is fired to let | 556 | // When an update to the physical properties happens, this event is fired to let |
515 | // different actors to modify the update before it is passed around | 557 | // different actors to modify the update before it is passed around |
@@ -522,53 +564,13 @@ public abstract class BSPhysObject : PhysicsActor | |||
522 | actions(ref entprop); | 564 | actions(ref entprop); |
523 | } | 565 | } |
524 | 566 | ||
525 | private Dictionary<string, PreUpdatePropertyAction> RegisteredPreUpdatePropertyActions = new Dictionary<string, PreUpdatePropertyAction>(); | ||
526 | public void RegisterPreUpdatePropertyAction(string identifier, PreUpdatePropertyAction actn) | ||
527 | { | ||
528 | lock (RegisteredPreUpdatePropertyActions) | ||
529 | { | ||
530 | // Clean out any existing action | ||
531 | UnRegisterPreUpdatePropertyAction(identifier); | ||
532 | RegisteredPreUpdatePropertyActions[identifier] = actn; | ||
533 | OnPreUpdateProperty += actn; | ||
534 | } | ||
535 | DetailLog("{0},BSPhysObject.RegisterPreUpdatePropertyAction,id={1}", LocalID, identifier); | ||
536 | } | ||
537 | public bool UnRegisterPreUpdatePropertyAction(string identifier) | ||
538 | { | ||
539 | bool removed = false; | ||
540 | lock (RegisteredPreUpdatePropertyActions) | ||
541 | { | ||
542 | if (RegisteredPreUpdatePropertyActions.ContainsKey(identifier)) | ||
543 | { | ||
544 | OnPreUpdateProperty -= RegisteredPreUpdatePropertyActions[identifier]; | ||
545 | RegisteredPreUpdatePropertyActions.Remove(identifier); | ||
546 | removed = true; | ||
547 | } | ||
548 | } | ||
549 | DetailLog("{0},BSPhysObject.UnRegisterPreUpdatePropertyAction,id={1},removed={2}", LocalID, identifier, removed); | ||
550 | return removed; | ||
551 | } | ||
552 | public void UnRegisterAllPreUpdatePropertyActions() | ||
553 | { | ||
554 | lock (RegisteredPreUpdatePropertyActions) | ||
555 | { | ||
556 | foreach (KeyValuePair<string, PreUpdatePropertyAction> kvp in RegisteredPreUpdatePropertyActions) | ||
557 | { | ||
558 | OnPreUpdateProperty -= kvp.Value; | ||
559 | } | ||
560 | RegisteredPreUpdatePropertyActions.Clear(); | ||
561 | } | ||
562 | DetailLog("{0},BSPhysObject.UnRegisterAllPreUpdatePropertyAction,", LocalID); | ||
563 | } | ||
564 | |||
565 | #endregion // Per Simulation Step actions | 567 | #endregion // Per Simulation Step actions |
566 | 568 | ||
567 | // High performance detailed logging routine used by the physical objects. | 569 | // High performance detailed logging routine used by the physical objects. |
568 | protected void DetailLog(string msg, params Object[] args) | 570 | protected void DetailLog(string msg, params Object[] args) |
569 | { | 571 | { |
570 | if (PhysicsScene.PhysicsLogging.Enabled) | 572 | if (PhysScene.PhysicsLogging.Enabled) |
571 | PhysicsScene.DetailLog(msg, args); | 573 | PhysScene.DetailLog(msg, args); |
572 | } | 574 | } |
573 | 575 | ||
574 | } | 576 | } |