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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs58
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs491
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs36
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs511
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs112
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs422
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs209
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs998
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs686
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs735
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs493
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs723
13 files changed, 3623 insertions, 1855 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
index 683bc51..3306a97 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
@@ -34,6 +34,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
34 34
35public class BS6DofConstraint : BSConstraint 35public class BS6DofConstraint : BSConstraint
36{ 36{
37 private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
38
39 public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
40
37 // Create a btGeneric6DofConstraint 41 // Create a btGeneric6DofConstraint
38 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, 42 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
39 Vector3 frame1, Quaternion frame1rot, 43 Vector3 frame1, Quaternion frame1rot,
@@ -44,11 +48,14 @@ public class BS6DofConstraint : BSConstraint
44 m_body1 = obj1; 48 m_body1 = obj1;
45 m_body2 = obj2; 49 m_body2 = obj2;
46 m_constraint = new BulletConstraint( 50 m_constraint = new BulletConstraint(
47 BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, 51 BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
48 frame1, frame1rot, 52 frame1, frame1rot,
49 frame2, frame2rot, 53 frame2, frame2rot,
50 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); 54 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
51 m_enabled = true; 55 m_enabled = true;
56 world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
57 BSScene.DetailLogZero, world.worldID,
58 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
52 } 59 }
53 60
54 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, 61 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
@@ -58,11 +65,36 @@ public class BS6DofConstraint : BSConstraint
58 m_world = world; 65 m_world = world;
59 m_body1 = obj1; 66 m_body1 = obj1;
60 m_body2 = obj2; 67 m_body2 = obj2;
61 m_constraint = new BulletConstraint( 68 if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
62 BulletSimAPI.Create6DofConstraintToPoint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, 69 {
63 joinPoint, 70 world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
64 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); 71 BSScene.DetailLogZero, world.worldID,
65 m_enabled = true; 72 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
73 world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
74 "[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
75 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
76 m_enabled = false;
77 }
78 else
79 {
80 m_constraint = new BulletConstraint(
81 BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
82 joinPoint,
83 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
84 world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
85 BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
86 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
87 if (m_constraint.ptr == IntPtr.Zero)
88 {
89 world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
90 LogHeader, obj1.ID, obj2.ID);
91 m_enabled = false;
92 }
93 else
94 {
95 m_enabled = true;
96 }
97 }
66 } 98 }
67 99
68 public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) 100 public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
@@ -70,7 +102,7 @@ public class BS6DofConstraint : BSConstraint
70 bool ret = false; 102 bool ret = false;
71 if (m_enabled) 103 if (m_enabled)
72 { 104 {
73 BulletSimAPI.SetFrames2(m_constraint.Ptr, frameA, frameArot, frameB, frameBrot); 105 BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
74 ret = true; 106 ret = true;
75 } 107 }
76 return ret; 108 return ret;
@@ -81,9 +113,9 @@ public class BS6DofConstraint : BSConstraint
81 bool ret = false; 113 bool ret = false;
82 if (m_enabled) 114 if (m_enabled)
83 { 115 {
84 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); 116 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
85 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); 117 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
86 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); 118 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
87 ret = true; 119 ret = true;
88 } 120 }
89 return ret; 121 return ret;
@@ -94,7 +126,7 @@ public class BS6DofConstraint : BSConstraint
94 bool ret = false; 126 bool ret = false;
95 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; 127 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
96 if (m_enabled) 128 if (m_enabled)
97 ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); 129 ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
98 return ret; 130 return ret;
99 } 131 }
100 132
@@ -103,7 +135,7 @@ public class BS6DofConstraint : BSConstraint
103 bool ret = false; 135 bool ret = false;
104 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; 136 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
105 if (m_enabled) 137 if (m_enabled)
106 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); 138 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
107 return ret; 139 return ret;
108 } 140 }
109 141
@@ -111,7 +143,7 @@ public class BS6DofConstraint : BSConstraint
111 { 143 {
112 bool ret = false; 144 bool ret = false;
113 if (m_enabled) 145 if (m_enabled)
114 ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.Ptr, threshold); 146 ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
115 return ret; 147 return ret;
116 } 148 }
117} 149}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index e2f7af9..b88ec3c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -28,62 +28,46 @@ using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Reflection; 29using System.Reflection;
30using log4net; 30using log4net;
31using OpenMetaverse; 31using OMV = OpenMetaverse;
32using OpenSim.Framework; 32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager; 33using OpenSim.Region.Physics.Manager;
34 34
35namespace OpenSim.Region.Physics.BulletSPlugin 35namespace OpenSim.Region.Physics.BulletSPlugin
36{ 36{
37public class BSCharacter : PhysicsActor 37public class BSCharacter : BSPhysObject
38{ 38{
39 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 39 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
40 private static readonly string LogHeader = "[BULLETS CHAR]"; 40 private static readonly string LogHeader = "[BULLETS CHAR]";
41 41
42 private BSScene _scene;
43 public BSScene Scene { get { return _scene; } }
44 private String _avName;
45 // private bool _stopped; 42 // private bool _stopped;
46 private Vector3 _size; 43 private OMV.Vector3 _size;
47 private Vector3 _scale; 44 private OMV.Vector3 _scale;
48 private PrimitiveBaseShape _pbs; 45 private PrimitiveBaseShape _pbs;
49 private uint _localID = 0;
50 private bool _grabbed; 46 private bool _grabbed;
51 private bool _selected; 47 private bool _selected;
52 private Vector3 _position; 48 private OMV.Vector3 _position;
53 private float _mass; 49 private float _mass;
54 public float _density; 50 private float _avatarDensity;
55 public float _avatarVolume; 51 private float _avatarVolume;
56 private Vector3 _force; 52 private OMV.Vector3 _force;
57 private Vector3 _velocity; 53 private OMV.Vector3 _velocity;
58 private Vector3 _torque; 54 private OMV.Vector3 _torque;
59 private float _collisionScore; 55 private float _collisionScore;
60 private Vector3 _acceleration; 56 private OMV.Vector3 _acceleration;
61 private Quaternion _orientation; 57 private OMV.Quaternion _orientation;
62 private int _physicsActorType; 58 private int _physicsActorType;
63 private bool _isPhysical; 59 private bool _isPhysical;
64 private bool _flying; 60 private bool _flying;
65 private bool _setAlwaysRun; 61 private bool _setAlwaysRun;
66 private bool _throttleUpdates; 62 private bool _throttleUpdates;
67 private bool _isColliding; 63 private bool _isColliding;
68 private long _collidingStep;
69 private bool _collidingGround;
70 private long _collidingGroundStep;
71 private bool _collidingObj; 64 private bool _collidingObj;
72 private bool _floatOnWater; 65 private bool _floatOnWater;
73 private Vector3 _rotationalVelocity; 66 private OMV.Vector3 _rotationalVelocity;
74 private bool _kinematic; 67 private bool _kinematic;
75 private float _buoyancy; 68 private float _buoyancy;
76 69
77 private BulletBody m_body; 70 private OMV.Vector3 _PIDTarget;
78 public BulletBody Body {
79 get { return m_body; }
80 set { m_body = value; }
81 }
82
83 private int _subscribedEventsMs = 0;
84 private int _nextCollisionOkTime = 0;
85
86 private Vector3 _PIDTarget;
87 private bool _usePID; 71 private bool _usePID;
88 private float _PIDTau; 72 private float _PIDTau;
89 private bool _useHoverPID; 73 private bool _useHoverPID;
@@ -91,25 +75,26 @@ public class BSCharacter : PhysicsActor
91 private PIDHoverType _PIDHoverType; 75 private PIDHoverType _PIDHoverType;
92 private float _PIDHoverTao; 76 private float _PIDHoverTao;
93 77
94 public BSCharacter(uint localID, String avName, BSScene parent_scene, Vector3 pos, Vector3 size, bool isFlying) 78 public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
95 { 79 {
96 _localID = localID; 80 base.BaseInitialize(parent_scene, localID, avName, "BSCharacter");
97 _avName = avName; 81 _physicsActorType = (int)ActorTypes.Agent;
98 _scene = parent_scene;
99 _position = pos; 82 _position = pos;
100 _size = size; 83 _size = size;
101 _flying = isFlying; 84 _flying = isFlying;
102 _orientation = Quaternion.Identity; 85 _orientation = OMV.Quaternion.Identity;
103 _velocity = Vector3.Zero; 86 _velocity = OMV.Vector3.Zero;
104 _buoyancy = ComputeBuoyancyFromFlying(isFlying); 87 _buoyancy = ComputeBuoyancyFromFlying(isFlying);
88
105 // The dimensions of the avatar capsule are kept in the scale. 89 // The dimensions of the avatar capsule are kept in the scale.
106 // Physics creates a unit capsule which is scaled by the physics engine. 90 // Physics creates a unit capsule which is scaled by the physics engine.
107 _scale = new Vector3(_scene.Params.avatarCapsuleRadius, _scene.Params.avatarCapsuleRadius, size.Z); 91 ComputeAvatarScale(_size);
108 _density = _scene.Params.avatarDensity; 92 _avatarDensity = PhysicsScene.Params.avatarDensity;
109 ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale 93 // set _avatarVolume and _mass based on capsule size, _density and _scale
94 ComputeAvatarVolumeAndMass();
110 95
111 ShapeData shapeData = new ShapeData(); 96 ShapeData shapeData = new ShapeData();
112 shapeData.ID = _localID; 97 shapeData.ID = LocalID;
113 shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR; 98 shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
114 shapeData.Position = _position; 99 shapeData.Position = _position;
115 shapeData.Rotation = _orientation; 100 shapeData.Rotation = _orientation;
@@ -118,29 +103,35 @@ public class BSCharacter : PhysicsActor
118 shapeData.Mass = _mass; 103 shapeData.Mass = _mass;
119 shapeData.Buoyancy = _buoyancy; 104 shapeData.Buoyancy = _buoyancy;
120 shapeData.Static = ShapeData.numericFalse; 105 shapeData.Static = ShapeData.numericFalse;
121 shapeData.Friction = _scene.Params.avatarFriction; 106 shapeData.Friction = PhysicsScene.Params.avatarFriction;
122 shapeData.Restitution = _scene.Params.avatarRestitution; 107 shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
123 108
124 // do actual create at taint time 109 // do actual create at taint time
125 _scene.TaintedObject("BSCharacter.create", delegate() 110 PhysicsScene.TaintedObject("BSCharacter.create", delegate()
126 { 111 {
127 BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); 112 DetailLog("{0},BSCharacter.create,taint", LocalID);
113 BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
128 114
129 m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); 115 // Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
130 // avatars get all collisions no matter what 116 // If not set at creation, the avatar will stop flying when created after crossing a region boundry.
131 BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 117 BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
118
119 BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
120
121 // This works here because CreateObject has already put the character into the physical world.
122 BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
123 (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask);
132 }); 124 });
133
134 return; 125 return;
135 } 126 }
136 127
137 // called when this character is being destroyed and the resources should be released 128 // called when this character is being destroyed and the resources should be released
138 public void Destroy() 129 public override void Destroy()
139 { 130 {
140 // DetailLog("{0},BSCharacter.Destroy", LocalID); 131 DetailLog("{0},BSCharacter.Destroy", LocalID);
141 _scene.TaintedObject("BSCharacter.destroy", delegate() 132 PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
142 { 133 {
143 BulletSimAPI.DestroyObject(_scene.WorldID, _localID); 134 BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
144 }); 135 });
145 } 136 }
146 137
@@ -149,70 +140,83 @@ public class BSCharacter : PhysicsActor
149 base.RequestPhysicsterseUpdate(); 140 base.RequestPhysicsterseUpdate();
150 } 141 }
151 // No one calls this method so I don't know what it could possibly mean 142 // No one calls this method so I don't know what it could possibly mean
152 public override bool Stopped { 143 public override bool Stopped {
153 get { return false; } 144 get { return false; }
154 } 145 }
155 public override Vector3 Size { 146 public override OMV.Vector3 Size {
156 get 147 get
157 { 148 {
158 // Avatar capsule size is kept in the scale parameter. 149 // Avatar capsule size is kept in the scale parameter.
159 return new Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z); 150 return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
160 } 151 }
161 152
162 set { 153 set {
163 // When an avatar's size is set, only the height is changed 154 // When an avatar's size is set, only the height is changed
164 // and that really only depends on the radius. 155 // and that really only depends on the radius.
165 _size = value; 156 _size = value;
166 _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y); 157 ComputeAvatarScale(_size);
167 158
168 // TODO: something has to be done with the avatar's vertical position 159 // TODO: something has to be done with the avatar's vertical position
169 160
170 ComputeAvatarVolumeAndMass(); 161 ComputeAvatarVolumeAndMass();
171 162
172 _scene.TaintedObject("BSCharacter.setSize", delegate() 163 PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
173 { 164 {
174 BulletSimAPI.SetObjectScaleMass(_scene.WorldID, LocalID, _scale, _mass, true); 165 BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true);
175 }); 166 });
176 167
177 } 168 }
178 }
179 public override PrimitiveBaseShape Shape {
180 set { _pbs = value;
181 }
182 } 169 }
183 public override uint LocalID { 170 public override PrimitiveBaseShape Shape {
184 set { _localID = value; 171 set { _pbs = value;
185 } 172 }
186 get { return _localID; }
187 } 173 }
188 public override bool Grabbed { 174 public override bool Grabbed {
189 set { _grabbed = value; 175 set { _grabbed = value;
190 } 176 }
191 } 177 }
192 public override bool Selected { 178 public override bool Selected {
193 set { _selected = value; 179 set { _selected = value;
194 } 180 }
195 } 181 }
196 public override void CrossingFailure() { return; } 182 public override void CrossingFailure() { return; }
197 public override void link(PhysicsActor obj) { return; } 183 public override void link(PhysicsActor obj) { return; }
198 public override void delink() { return; } 184 public override void delink() { return; }
199 public override void LockAngularMotion(Vector3 axis) { return; }
200 185
201 public override Vector3 Position { 186 // Set motion values to zero.
187 // Do it to the properties so the values get set in the physics engine.
188 // Push the setting of the values to the viewer.
189 // Called at taint time!
190 public override void ZeroMotion()
191 {
192 _velocity = OMV.Vector3.Zero;
193 _acceleration = OMV.Vector3.Zero;
194 _rotationalVelocity = OMV.Vector3.Zero;
195
196 // Zero some other properties directly into the physics engine
197 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero);
198 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
199 BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
200 BulletSimAPI.ClearForces2(BSBody.ptr);
201 }
202
203 public override void LockAngularMotion(OMV.Vector3 axis) { return; }
204
205 public override OMV.Vector3 Position {
202 get { 206 get {
203 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 207 // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
204 return _position; 208 return _position;
205 } 209 }
206 set { 210 set {
207 _position = value; 211 _position = value;
208 PositionSanityCheck(); 212 PositionSanityCheck();
209 213
210 _scene.TaintedObject("BSCharacter.setPosition", delegate() 214 PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
211 { 215 {
212 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 216 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
213 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 217 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
214 }); 218 });
215 } 219 }
216 } 220 }
217 221
218 // Check that the current position is sane and, if not, modify the position to make it so. 222 // Check that the current position is sane and, if not, modify the position to make it so.
@@ -221,202 +225,224 @@ public class BSCharacter : PhysicsActor
221 private bool PositionSanityCheck() 225 private bool PositionSanityCheck()
222 { 226 {
223 bool ret = false; 227 bool ret = false;
224 228
225 // If below the ground, move the avatar up 229 // If below the ground, move the avatar up
226 float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position); 230 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
227 if (_position.Z < terrainHeight) 231 if (Position.Z < terrainHeight)
228 { 232 {
229 DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation); 233 DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
230 _position.Z = terrainHeight + 2.0f; 234 _position.Z = terrainHeight + 2.0f;
231 ret = true; 235 ret = true;
232 } 236 }
233 237
234 // TODO: check for out of bounds 238 // TODO: check for out of bounds
239 return ret;
240 }
235 241
242 // A version of the sanity check that also makes sure a new position value is
243 // pushed back to the physics engine. This routine would be used by anyone
244 // who is not already pushing the value.
245 private bool PositionSanityCheck2()
246 {
247 bool ret = false;
248 if (PositionSanityCheck())
249 {
250 // The new position value must be pushed into the physics engine but we can't
251 // just assign to "Position" because of potential call loops.
252 PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
253 {
254 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
255 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
256 });
257 ret = true;
258 }
236 return ret; 259 return ret;
237 } 260 }
238 261
239 public override float Mass { 262 public override float Mass {
240 get { 263 get {
241 return _mass; 264 return _mass;
242 } 265 }
243 } 266 }
244 public override Vector3 Force { 267
245 get { return _force; } 268 // used when we only want this prim's mass and not the linkset thing
269 public override float MassRaw { get {return _mass; } }
270
271 public override OMV.Vector3 Force {
272 get { return _force; }
246 set { 273 set {
247 _force = value; 274 _force = value;
248 // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); 275 // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
249 Scene.TaintedObject("BSCharacter.SetForce", delegate() 276 PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
250 { 277 {
251 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); 278 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
252 BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force); 279 BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force);
253 }); 280 });
254 } 281 }
255 } 282 }
256 283
257 public override int VehicleType { 284 public override int VehicleType {
258 get { return 0; } 285 get { return 0; }
259 set { return; } 286 set { return; }
260 } 287 }
261 public override void VehicleFloatParam(int param, float value) { } 288 public override void VehicleFloatParam(int param, float value) { }
262 public override void VehicleVectorParam(int param, Vector3 value) {} 289 public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
263 public override void VehicleRotationParam(int param, Quaternion rotation) { } 290 public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
264 public override void VehicleFlags(int param, bool remove) { } 291 public override void VehicleFlags(int param, bool remove) { }
265 292
266 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more 293 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
267 public override void SetVolumeDetect(int param) { return; } 294 public override void SetVolumeDetect(int param) { return; }
268 295
269 public override Vector3 GeometricCenter { get { return Vector3.Zero; } } 296 public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
270 public override Vector3 CenterOfMass { get { return Vector3.Zero; } } 297 public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
271 public override Vector3 Velocity { 298 public override OMV.Vector3 Velocity {
272 get { return _velocity; } 299 get { return _velocity; }
273 set { 300 set {
274 _velocity = value; 301 _velocity = value;
275 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); 302 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
276 _scene.TaintedObject("BSCharacter.setVelocity", delegate() 303 PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
277 { 304 {
278 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); 305 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
279 BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); 306 BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
280 }); 307 });
281 } 308 }
282 } 309 }
283 public override Vector3 Torque { 310 public override OMV.Vector3 Torque {
284 get { return _torque; } 311 get { return _torque; }
285 set { _torque = value; 312 set { _torque = value;
286 } 313 }
287 } 314 }
288 public override float CollisionScore { 315 public override float CollisionScore {
289 get { return _collisionScore; } 316 get { return _collisionScore; }
290 set { _collisionScore = value; 317 set { _collisionScore = value;
291 } 318 }
292 } 319 }
293 public override Vector3 Acceleration { 320 public override OMV.Vector3 Acceleration {
294 get { return _acceleration; } 321 get { return _acceleration; }
295 set { _acceleration = value; } 322 set { _acceleration = value; }
296 } 323 }
297 public override Quaternion Orientation { 324 public override OMV.Quaternion Orientation {
298 get { return _orientation; } 325 get { return _orientation; }
299 set { 326 set {
300 _orientation = value; 327 _orientation = value;
301 // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); 328 // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
302 _scene.TaintedObject("BSCharacter.setOrientation", delegate() 329 PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
303 { 330 {
304 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 331 // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
305 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 332 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
306 }); 333 });
307 } 334 }
308 } 335 }
309 public override int PhysicsActorType { 336 public override int PhysicsActorType {
310 get { return _physicsActorType; } 337 get { return _physicsActorType; }
311 set { _physicsActorType = value; 338 set { _physicsActorType = value;
312 } 339 }
313 } 340 }
314 public override bool IsPhysical { 341 public override bool IsPhysical {
315 get { return _isPhysical; } 342 get { return _isPhysical; }
316 set { _isPhysical = value; 343 set { _isPhysical = value;
317 } 344 }
318 } 345 }
319 public override bool Flying { 346 public override bool Flying {
320 get { return _flying; } 347 get { return _flying; }
321 set { 348 set {
322 if (_flying != value) 349 _flying = value;
323 { 350 // simulate flying by changing the effect of gravity
324 _flying = value; 351 this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
325 // simulate flying by changing the effect of gravity 352 }
326 this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
327 }
328 }
329 } 353 }
354 // Flying is implimented by changing the avatar's buoyancy.
355 // Would this be done better with a vehicle type?
330 private float ComputeBuoyancyFromFlying(bool ifFlying) { 356 private float ComputeBuoyancyFromFlying(bool ifFlying) {
331 return ifFlying ? 1f : 0f; 357 return ifFlying ? 1f : 0f;
332 } 358 }
333 public override bool 359 public override bool
334 SetAlwaysRun { 360 SetAlwaysRun {
335 get { return _setAlwaysRun; } 361 get { return _setAlwaysRun; }
336 set { _setAlwaysRun = value; } 362 set { _setAlwaysRun = value; }
337 } 363 }
338 public override bool ThrottleUpdates { 364 public override bool ThrottleUpdates {
339 get { return _throttleUpdates; } 365 get { return _throttleUpdates; }
340 set { _throttleUpdates = value; } 366 set { _throttleUpdates = value; }
341 } 367 }
342 public override bool IsColliding { 368 public override bool IsColliding {
343 get { return (_collidingStep == _scene.SimulationStep); } 369 get { return (CollidingStep == PhysicsScene.SimulationStep); }
344 set { _isColliding = value; } 370 set { _isColliding = value; }
345 } 371 }
346 public override bool CollidingGround { 372 public override bool CollidingGround {
347 get { return (_collidingGroundStep == _scene.SimulationStep); } 373 get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
348 set { _collidingGround = value; } 374 set { CollidingGround = value; }
349 } 375 }
350 public override bool CollidingObj { 376 public override bool CollidingObj {
351 get { return _collidingObj; } 377 get { return _collidingObj; }
352 set { _collidingObj = value; } 378 set { _collidingObj = value; }
353 } 379 }
354 public override bool FloatOnWater { 380 public override bool FloatOnWater {
355 set { _floatOnWater = value; } 381 set { _floatOnWater = value; }
356 } 382 }
357 public override Vector3 RotationalVelocity { 383 public override OMV.Vector3 RotationalVelocity {
358 get { return _rotationalVelocity; } 384 get { return _rotationalVelocity; }
359 set { _rotationalVelocity = value; } 385 set { _rotationalVelocity = value; }
360 } 386 }
361 public override bool Kinematic { 387 public override bool Kinematic {
362 get { return _kinematic; } 388 get { return _kinematic; }
363 set { _kinematic = value; } 389 set { _kinematic = value; }
364 } 390 }
365 // neg=fall quickly, 0=1g, 1=0g, pos=float up 391 // neg=fall quickly, 0=1g, 1=0g, pos=float up
366 public override float Buoyancy { 392 public override float Buoyancy {
367 get { return _buoyancy; } 393 get { return _buoyancy; }
368 set { _buoyancy = value; 394 set { _buoyancy = value;
369 _scene.TaintedObject("BSCharacter.setBuoyancy", delegate() 395 PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
370 { 396 {
371 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 397 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
372 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); 398 BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
373 }); 399 });
374 } 400 }
375 } 401 }
376 402
377 // Used for MoveTo 403 // Used for MoveTo
378 public override Vector3 PIDTarget { 404 public override OMV.Vector3 PIDTarget {
379 set { _PIDTarget = value; } 405 set { _PIDTarget = value; }
380 } 406 }
381 public override bool PIDActive { 407 public override bool PIDActive {
382 set { _usePID = value; } 408 set { _usePID = value; }
383 } 409 }
384 public override float PIDTau { 410 public override float PIDTau {
385 set { _PIDTau = value; } 411 set { _PIDTau = value; }
386 } 412 }
387 413
388 // Used for llSetHoverHeight and maybe vehicle height 414 // Used for llSetHoverHeight and maybe vehicle height
389 // Hover Height will override MoveTo target's Z 415 // Hover Height will override MoveTo target's Z
390 public override bool PIDHoverActive { 416 public override bool PIDHoverActive {
391 set { _useHoverPID = value; } 417 set { _useHoverPID = value; }
392 } 418 }
393 public override float PIDHoverHeight { 419 public override float PIDHoverHeight {
394 set { _PIDHoverHeight = value; } 420 set { _PIDHoverHeight = value; }
395 } 421 }
396 public override PIDHoverType PIDHoverType { 422 public override PIDHoverType PIDHoverType {
397 set { _PIDHoverType = value; } 423 set { _PIDHoverType = value; }
398 } 424 }
399 public override float PIDHoverTau { 425 public override float PIDHoverTau {
400 set { _PIDHoverTao = value; } 426 set { _PIDHoverTao = value; }
401 } 427 }
402 428
403 // For RotLookAt 429 // For RotLookAt
404 public override Quaternion APIDTarget { set { return; } } 430 public override OMV.Quaternion APIDTarget { set { return; } }
405 public override bool APIDActive { set { return; } } 431 public override bool APIDActive { set { return; } }
406 public override float APIDStrength { set { return; } } 432 public override float APIDStrength { set { return; } }
407 public override float APIDDamping { set { return; } } 433 public override float APIDDamping { set { return; } }
408 434
409 public override void AddForce(Vector3 force, bool pushforce) { 435 public override void AddForce(OMV.Vector3 force, bool pushforce) {
410 if (force.IsFinite()) 436 if (force.IsFinite())
411 { 437 {
412 _force.X += force.X; 438 _force.X += force.X;
413 _force.Y += force.Y; 439 _force.Y += force.Y;
414 _force.Z += force.Z; 440 _force.Z += force.Z;
415 // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); 441 // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
416 _scene.TaintedObject("BSCharacter.AddForce", delegate() 442 PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
417 { 443 {
418 DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); 444 DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
419 BulletSimAPI.AddObjectForce2(Body.Ptr, _force); 445 BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
420 }); 446 });
421 } 447 }
422 else 448 else
@@ -426,37 +452,19 @@ public class BSCharacter : PhysicsActor
426 //m_lastUpdateSent = false; 452 //m_lastUpdateSent = false;
427 } 453 }
428 454
429 public override void AddAngularForce(Vector3 force, bool pushforce) { 455 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
430 } 456 }
431 public override void SetMomentum(Vector3 momentum) { 457 public override void SetMomentum(OMV.Vector3 momentum) {
432 } 458 }
433 459
434 // Turn on collision events at a rate no faster than one every the given milliseconds 460 private void ComputeAvatarScale(OMV.Vector3 size)
435 public override void SubscribeEvents(int ms) { 461 {
436 _subscribedEventsMs = ms; 462 _scale.X = PhysicsScene.Params.avatarCapsuleRadius;
437 if (ms > 0) 463 _scale.Y = PhysicsScene.Params.avatarCapsuleRadius;
438 {
439 // make sure first collision happens
440 _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
441 464
442 Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate() 465 // The 1.15 came from ODE but it seems to cause the avatar to float off the ground
443 { 466 // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
444 BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 467 _scale.Z = (_size.Z) - (_scale.X + _scale.Y);
445 });
446 }
447 }
448 // Stop collision events
449 public override void UnSubscribeEvents() {
450 _subscribedEventsMs = 0;
451 // Avatars get all their collision events
452 // Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate()
453 // {
454 // BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
455 // });
456 }
457 // Return 'true' if someone has subscribed to events
458 public override bool SubscribedEvents() {
459 return (_subscribedEventsMs > 0);
460 } 468 }
461 469
462 // set _avatarVolume and _mass based on capsule size, _density and _scale 470 // set _avatarVolume and _mass based on capsule size, _density and _scale
@@ -473,12 +481,12 @@ public class BSCharacter : PhysicsActor
473 * Math.Min(_scale.X, _scale.Y) 481 * Math.Min(_scale.X, _scale.Y)
474 * _scale.Y // plus the volume of the capsule end caps 482 * _scale.Y // plus the volume of the capsule end caps
475 ); 483 );
476 _mass = _density * _avatarVolume; 484 _mass = _avatarDensity * _avatarVolume;
477 } 485 }
478 486
479 // The physics engine says that properties have updated. Update same and inform 487 // The physics engine says that properties have updated. Update same and inform
480 // the world that things have changed. 488 // the world that things have changed.
481 public void UpdateProperties(EntityProperties entprop) 489 public override void UpdateProperties(EntityProperties entprop)
482 { 490 {
483 _position = entprop.Position; 491 _position = entprop.Position;
484 _orientation = entprop.Rotation; 492 _orientation = entprop.Rotation;
@@ -488,67 +496,12 @@ public class BSCharacter : PhysicsActor
488 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. 496 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
489 // base.RequestPhysicsterseUpdate(); 497 // base.RequestPhysicsterseUpdate();
490 498
491 /* 499 // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
492 DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 500 PositionSanityCheck2();
493 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
494 entprop.Acceleration, entprop.RotationalVelocity);
495 */
496 }
497
498 // Called by the scene when a collision with this object is reported
499 // The collision, if it should be reported to the character, is placed in a collection
500 // that will later be sent to the simulator when SendCollisions() is called.
501 CollisionEventUpdate collisionCollection = null;
502 public void Collide(uint collidingWith, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
503 {
504 // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
505 501
506 // The following makes IsColliding() and IsCollidingGround() work 502 float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug
507 _collidingStep = _scene.SimulationStep; 503 DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
508 if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) 504 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere);
509 {
510 _collidingGroundStep = _scene.SimulationStep;
511 }
512 // DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith);
513
514 // throttle collisions to the rate specified in the subscription
515 if (_subscribedEventsMs != 0) {
516 int nowTime = _scene.SimulationNowTime;
517 if (nowTime >= _nextCollisionOkTime) {
518 _nextCollisionOkTime = nowTime + _subscribedEventsMs;
519
520 if (collisionCollection == null)
521 collisionCollection = new CollisionEventUpdate();
522 collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
523 }
524 }
525 }
526
527 public void SendCollisions()
528 {
529 /*
530 if (collisionCollection != null && collisionCollection.Count > 0)
531 {
532 base.SendCollisionUpdate(collisionCollection);
533 collisionCollection = null;
534 }
535 */
536 // Kludge to make a collision call even if there are no collisions.
537 // This causes the avatar animation to get updated.
538 if (collisionCollection == null)
539 collisionCollection = new CollisionEventUpdate();
540 base.SendCollisionUpdate(collisionCollection);
541 // If there were any collisions in the collection, make sure we don't use the
542 // same instance next time.
543 if (collisionCollection.Count > 0)
544 collisionCollection = null;
545 // End kludge
546 }
547
548 // Invoke the detailed logger and output something if it's enabled.
549 private void DetailLog(string msg, params Object[] args)
550 {
551 Scene.PhysicsLogging.Write(msg, args);
552 } 505 }
553} 506}
554} 507}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 25084d8..63a4127 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -48,22 +48,24 @@ public abstract class BSConstraint : IDisposable
48 { 48 {
49 if (m_enabled) 49 if (m_enabled)
50 { 50 {
51 // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
52 bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
53 m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
54 m_constraint.Ptr = System.IntPtr.Zero;
55 m_enabled = false; 51 m_enabled = false;
52 bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
53 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
54 m_constraint.ptr = System.IntPtr.Zero;
56 } 55 }
57 } 56 }
58 57
59 public BulletBody Body1 { get { return m_body1; } } 58 public BulletBody Body1 { get { return m_body1; } }
60 public BulletBody Body2 { get { return m_body2; } } 59 public BulletBody Body2 { get { return m_body2; } }
60 public BulletConstraint Constraint { get { return m_constraint; } }
61 public abstract ConstraintType Type { get; }
62
61 63
62 public virtual bool SetLinearLimits(Vector3 low, Vector3 high) 64 public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
63 { 65 {
64 bool ret = false; 66 bool ret = false;
65 if (m_enabled) 67 if (m_enabled)
66 ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); 68 ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
67 return ret; 69 return ret;
68 } 70 }
69 71
@@ -71,7 +73,18 @@ public abstract class BSConstraint : IDisposable
71 { 73 {
72 bool ret = false; 74 bool ret = false;
73 if (m_enabled) 75 if (m_enabled)
74 ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); 76 ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
77 return ret;
78 }
79
80 public virtual bool SetSolverIterations(float cnt)
81 {
82 bool ret = false;
83 if (m_enabled)
84 {
85 BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
86 ret = true;
87 }
75 return ret; 88 return ret;
76 } 89 }
77 90
@@ -81,7 +94,7 @@ public abstract class BSConstraint : IDisposable
81 if (m_enabled) 94 if (m_enabled)
82 { 95 {
83 // Recompute the internal transforms 96 // Recompute the internal transforms
84 BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); 97 BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
85 ret = true; 98 ret = true;
86 } 99 }
87 return ret; 100 return ret;
@@ -97,13 +110,14 @@ public abstract class BSConstraint : IDisposable
97 ret = CalculateTransforms(); 110 ret = CalculateTransforms();
98 if (ret) 111 if (ret)
99 { 112 {
100 // m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}", 113 // Setting an object's mass to zero (making it static like when it's selected)
101 // BSScene.DetailLogZero, Body1.ID, Body2.ID); 114 // automatically disables the constraints.
102 BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); 115 // If the link is enabled, be sure to set the constraint itself to enabled.
116 BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true));
103 } 117 }
104 else 118 else
105 { 119 {
106 m_world.scene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID); 120 m_world.physicsScene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
107 } 121 }
108 } 122 }
109 return ret; 123 return ret;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 5a9f135..65b38d6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -54,17 +54,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
54{ 54{
55 public class BSDynamics 55 public class BSDynamics
56 { 56 {
57 private int frcount = 0; // Used to limit dynamics debug output to 57 private BSScene PhysicsScene { get; set; }
58 // every 100th frame 58 // the prim this dynamic controller belongs to
59 59 private BSPrim Prim { get; set; }
60 private BSPrim m_prim; // the prim this dynamic controller belongs to
61 60
62 // Vehicle properties 61 // Vehicle properties
63 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind 62 public Vehicle Type { get; set; }
64 public Vehicle Type 63
65 {
66 get { return m_type; }
67 }
68 // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier 64 // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
69 private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: 65 private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
70 // HOVER_TERRAIN_ONLY 66 // HOVER_TERRAIN_ONLY
@@ -74,13 +70,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
74 // HOVER_UP_ONLY 70 // HOVER_UP_ONLY
75 // LIMIT_MOTOR_UP 71 // LIMIT_MOTOR_UP
76 // LIMIT_ROLL_ONLY 72 // LIMIT_ROLL_ONLY
77 private VehicleFlag m_Hoverflags = (VehicleFlag)0;
78 private Vector3 m_BlockingEndPoint = Vector3.Zero; 73 private Vector3 m_BlockingEndPoint = Vector3.Zero;
79 private Quaternion m_RollreferenceFrame = Quaternion.Identity; 74 private Quaternion m_RollreferenceFrame = Quaternion.Identity;
80 // Linear properties 75 // Linear properties
81 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time 76 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
82 private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL 77 private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
83 private Vector3 m_dir = Vector3.Zero; // velocity applied to body 78 private Vector3 m_newVelocity = Vector3.Zero; // velocity computed to be applied to body
84 private Vector3 m_linearFrictionTimescale = Vector3.Zero; 79 private Vector3 m_linearFrictionTimescale = Vector3.Zero;
85 private float m_linearMotorDecayTimescale = 0; 80 private float m_linearMotorDecayTimescale = 0;
86 private float m_linearMotorTimescale = 0; 81 private float m_linearMotorTimescale = 0;
@@ -124,15 +119,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin
124 private float m_verticalAttractionEfficiency = 1.0f; // damped 119 private float m_verticalAttractionEfficiency = 1.0f; // damped
125 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. 120 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
126 121
127 public BSDynamics(BSPrim myPrim) 122 public BSDynamics(BSScene myScene, BSPrim myPrim)
128 { 123 {
129 m_prim = myPrim; 124 PhysicsScene = myScene;
130 m_type = Vehicle.TYPE_NONE; 125 Prim = myPrim;
126 Type = Vehicle.TYPE_NONE;
131 } 127 }
132 128
133 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep) 129 // Return 'true' if this vehicle is doing vehicle things
130 public bool IsActive
134 { 131 {
135 DetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); 132 get { return Type != Vehicle.TYPE_NONE; }
133 }
134
135 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
136 {
137 VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
136 switch (pParam) 138 switch (pParam)
137 { 139 {
138 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: 140 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
@@ -229,9 +231,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
229 } 231 }
230 }//end ProcessFloatVehicleParam 232 }//end ProcessFloatVehicleParam
231 233
232 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep) 234 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
233 { 235 {
234 DetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); 236 VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
235 switch (pParam) 237 switch (pParam)
236 { 238 {
237 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 239 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
@@ -266,7 +268,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
266 268
267 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) 269 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
268 { 270 {
269 DetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); 271 VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
270 switch (pParam) 272 switch (pParam)
271 { 273 {
272 case Vehicle.REFERENCE_FRAME: 274 case Vehicle.REFERENCE_FRAME:
@@ -280,166 +282,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin
280 282
281 internal void ProcessVehicleFlags(int pParam, bool remove) 283 internal void ProcessVehicleFlags(int pParam, bool remove)
282 { 284 {
283 DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); 285 VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove);
286 VehicleFlag parm = (VehicleFlag)pParam;
284 if (remove) 287 if (remove)
285 { 288 {
286 if (pParam == -1) 289 if (pParam == -1)
287 { 290 {
288 m_flags = (VehicleFlag)0; 291 m_flags = (VehicleFlag)0;
289 m_Hoverflags = (VehicleFlag)0;
290 return;
291 }
292 if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
293 {
294 if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0)
295 m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT);
296 }
297 if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
298 {
299 if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0)
300 m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY);
301 }
302 if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
303 {
304 if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0)
305 m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY);
306 }
307 if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
308 {
309 if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0)
310 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY);
311 }
312 if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
313 {
314 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0)
315 m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP);
316 }
317 if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY)
318 {
319 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0)
320 m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
321 }
322 if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
323 {
324 if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0)
325 m_flags &= ~(VehicleFlag.MOUSELOOK_BANK);
326 }
327 if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
328 {
329 if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0)
330 m_flags &= ~(VehicleFlag.MOUSELOOK_STEER);
331 }
332 if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
333 {
334 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0)
335 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP);
336 }
337 if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
338 {
339 if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0)
340 m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED);
341 }
342 if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
343 {
344 if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0)
345 m_flags &= ~(VehicleFlag.NO_X);
346 }
347 if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
348 {
349 if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0)
350 m_flags &= ~(VehicleFlag.NO_Y);
351 }
352 if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
353 {
354 if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0)
355 m_flags &= ~(VehicleFlag.NO_Z);
356 } 292 }
357 if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT) 293 else
358 {
359 if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0)
360 m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT);
361 }
362 if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
363 {
364 if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0)
365 m_flags &= ~(VehicleFlag.NO_DEFLECTION);
366 }
367 if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
368 { 294 {
369 if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0) 295 m_flags &= ~parm;
370 m_flags &= ~(VehicleFlag.LOCK_ROTATION);
371 } 296 }
372 } 297 }
373 else 298 else {
374 { 299 m_flags |= parm;
375 if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
376 {
377 m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags);
378 }
379 if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
380 {
381 m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags);
382 }
383 if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
384 {
385 m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags);
386 }
387 if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
388 {
389 m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags);
390 }
391 if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
392 {
393 m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags);
394 }
395 if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
396 {
397 m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags);
398 }
399 if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
400 {
401 m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags);
402 }
403 if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
404 {
405 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags);
406 }
407 if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
408 {
409 m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags);
410 }
411 if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
412 {
413 m_flags |= (VehicleFlag.NO_X);
414 }
415 if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
416 {
417 m_flags |= (VehicleFlag.NO_Y);
418 }
419 if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
420 {
421 m_flags |= (VehicleFlag.NO_Z);
422 }
423 if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
424 {
425 m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT);
426 }
427 if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
428 {
429 m_flags |= (VehicleFlag.NO_DEFLECTION);
430 }
431 if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
432 {
433 m_flags |= (VehicleFlag.LOCK_ROTATION);
434 }
435 } 300 }
436 }//end ProcessVehicleFlags 301 }//end ProcessVehicleFlags
437 302
438 internal void ProcessTypeChange(Vehicle pType) 303 internal void ProcessTypeChange(Vehicle pType)
439 { 304 {
440 DetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); 305 VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType);
441 // Set Defaults For Type 306 // Set Defaults For Type
442 m_type = pType; 307 Type = pType;
443 switch (pType) 308 switch (pType)
444 { 309 {
445 case Vehicle.TYPE_NONE: 310 case Vehicle.TYPE_NONE:
@@ -478,10 +343,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
478 // m_bankingMix = 1; 343 // m_bankingMix = 1;
479 // m_bankingTimescale = 10; 344 // m_bankingTimescale = 10;
480 // m_referenceFrame = Quaternion.Identity; 345 // m_referenceFrame = Quaternion.Identity;
481 m_Hoverflags &= 346 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
347 m_flags &=
482 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 348 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
483 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 349 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
484 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
485 break; 350 break;
486 case Vehicle.TYPE_CAR: 351 case Vehicle.TYPE_CAR:
487 m_linearFrictionTimescale = new Vector3(100, 2, 1000); 352 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
@@ -506,10 +371,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
506 // m_bankingMix = 1; 371 // m_bankingMix = 1;
507 // m_bankingTimescale = 1; 372 // m_bankingTimescale = 1;
508 // m_referenceFrame = Quaternion.Identity; 373 // m_referenceFrame = Quaternion.Identity;
509 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
510 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | 374 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
511 VehicleFlag.LIMIT_MOTOR_UP); 375 VehicleFlag.LIMIT_MOTOR_UP);
512 m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY); 376 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
377 m_flags |= (VehicleFlag.HOVER_UP_ONLY);
513 break; 378 break;
514 case Vehicle.TYPE_BOAT: 379 case Vehicle.TYPE_BOAT:
515 m_linearFrictionTimescale = new Vector3(10, 3, 2); 380 m_linearFrictionTimescale = new Vector3(10, 3, 2);
@@ -534,12 +399,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
534 // m_bankingMix = 0.8f; 399 // m_bankingMix = 0.8f;
535 // m_bankingTimescale = 1; 400 // m_bankingTimescale = 1;
536 // m_referenceFrame = Quaternion.Identity; 401 // m_referenceFrame = Quaternion.Identity;
537 m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | 402 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
538 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 403 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
539 m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); 404 m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
540 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | 405 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
541 VehicleFlag.LIMIT_MOTOR_UP); 406 VehicleFlag.LIMIT_MOTOR_UP);
542 m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY); 407 m_flags |= (VehicleFlag.HOVER_WATER_ONLY);
543 break; 408 break;
544 case Vehicle.TYPE_AIRPLANE: 409 case Vehicle.TYPE_AIRPLANE:
545 m_linearFrictionTimescale = new Vector3(200, 10, 5); 410 m_linearFrictionTimescale = new Vector3(200, 10, 5);
@@ -564,7 +429,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
564 // m_bankingMix = 0.7f; 429 // m_bankingMix = 0.7f;
565 // m_bankingTimescale = 2; 430 // m_bankingTimescale = 2;
566 // m_referenceFrame = Quaternion.Identity; 431 // m_referenceFrame = Quaternion.Identity;
567 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 432 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
568 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 433 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
569 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); 434 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
570 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); 435 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
@@ -592,50 +457,63 @@ namespace OpenSim.Region.Physics.BulletSPlugin
592 // m_bankingMix = 0.7f; 457 // m_bankingMix = 0.7f;
593 // m_bankingTimescale = 5; 458 // m_bankingTimescale = 5;
594 // m_referenceFrame = Quaternion.Identity; 459 // m_referenceFrame = Quaternion.Identity;
595 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 460 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
596 VehicleFlag.HOVER_UP_ONLY); 461 VehicleFlag.HOVER_UP_ONLY);
597 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); 462 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
598 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); 463 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
599 m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); 464 m_flags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
600 break; 465 break;
601 } 466 }
602 }//end SetDefaultsForType 467 }//end SetDefaultsForType
603 468
604 internal void Step(float pTimestep) 469 // Some of the properties of this prim may have changed.
470 // Do any updating needed for a vehicle
471 public void Refresh()
605 { 472 {
606 if (m_type == Vehicle.TYPE_NONE) return; 473 if (Type == Vehicle.TYPE_NONE) return;
474
475 // Set the prim's inertia to zero. The vehicle code handles that and this
476 // removes the torque action introduced by Bullet.
477 Vector3 inertia = Vector3.Zero;
478 BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia);
479 BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
480 }
607 481
608 frcount++; // used to limit debug comment output 482 // One step of the vehicle properties for the next 'pTimestep' seconds.
609 if (frcount > 100) 483 internal void Step(float pTimestep)
610 frcount = 0; 484 {
485 if (!IsActive) return;
611 486
612 MoveLinear(pTimestep); 487 MoveLinear(pTimestep);
613 MoveAngular(pTimestep); 488 MoveAngular(pTimestep);
614 LimitRotation(pTimestep); 489 LimitRotation(pTimestep);
615 490
616 DetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 491 // remember the position so next step we can limit absolute movement effects
617 m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); 492 m_lastPositionVector = Prim.Position;
493
494 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
495 Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity);
618 }// end Step 496 }// end Step
619 497
498 // Apply the effect of the linear motor.
499 // Also does hover and float.
620 private void MoveLinear(float pTimestep) 500 private void MoveLinear(float pTimestep)
621 { 501 {
622 // requested m_linearMotorDirection is significant 502 // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates
623 // if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) 503 // m_lastLinearVelocityVector is the speed we are moving in that direction
624 if (m_linearMotorDirection.LengthSquared() > 0.0001f) 504 if (m_linearMotorDirection.LengthSquared() > 0.001f)
625 { 505 {
626 Vector3 origDir = m_linearMotorDirection; 506 Vector3 origDir = m_linearMotorDirection;
627 Vector3 origVel = m_lastLinearVelocityVector; 507 Vector3 origVel = m_lastLinearVelocityVector;
628 508
629 // add drive to body 509 // add drive to body
630 // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); 510 // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale / pTimestep);
631 Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale); 511 Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep);
632 // lastLinearVelocityVector is the current body velocity vector? 512 // lastLinearVelocityVector is the current body velocity vector
633 // RA: Not sure what the *10 is for. A correction for pTimestep? 513 // RA: Not sure what the *10 is for. A correction for pTimestep?
634 // m_lastLinearVelocityVector += (addAmount*10); 514 // m_lastLinearVelocityVector += (addAmount*10);
635 m_lastLinearVelocityVector += addAmount; 515 m_lastLinearVelocityVector += addAmount;
636 516
637 // This will work temporarily, but we really need to compare speed on an axis
638 // KF: Limit body velocity to applied velocity?
639 // Limit the velocity vector to less than the last set linear motor direction 517 // Limit the velocity vector to less than the last set linear motor direction
640 if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) 518 if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
641 m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; 519 m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
@@ -644,124 +522,87 @@ namespace OpenSim.Region.Physics.BulletSPlugin
644 if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z)) 522 if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
645 m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z; 523 m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
646 524
525 /*
647 // decay applied velocity 526 // decay applied velocity
648 Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); 527 Vector3 decayfraction = Vector3.One/(m_linearMotorDecayTimescale / pTimestep);
528 // (RA: do not know where the 0.5f comes from)
649 m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; 529 m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
650
651 /*
652 Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/m_linearMotorTimescale;
653 m_lastLinearVelocityVector += addAmount;
654
655 float decayfraction = (1.0f - 1.0f / m_linearMotorDecayTimescale);
656 m_linearMotorDirection *= decayfraction;
657
658 */ 530 */
531 float keepfraction = 1.0f - (1.0f / (m_linearMotorDecayTimescale / pTimestep));
532 m_linearMotorDirection *= keepfraction;
659 533
660 DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", 534 VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}",
661 m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); 535 Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
662 } 536 }
663 else 537 else
664 { 538 {
665 // if what remains of applied is small, zero it. 539 // if what remains of direction is very small, zero it.
666 // if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
667 // m_lastLinearVelocityVector = Vector3.Zero;
668 m_linearMotorDirection = Vector3.Zero; 540 m_linearMotorDirection = Vector3.Zero;
669 m_lastLinearVelocityVector = Vector3.Zero; 541 m_lastLinearVelocityVector = Vector3.Zero;
542 VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
670 } 543 }
671 544
672 // convert requested object velocity to world-referenced vector 545 // convert requested object velocity to object relative vector
673 Quaternion rotq = m_prim.Orientation; 546 Quaternion rotq = Prim.Orientation;
674 m_dir = m_lastLinearVelocityVector * rotq; 547 m_newVelocity = m_lastLinearVelocityVector * rotq;
675 548
676 // Add the various forces into m_dir which will be our new direction vector (velocity) 549 // Add the various forces into m_dir which will be our new direction vector (velocity)
677 550
678 // add Gravity and Buoyancy 551 // add Gravity and Buoyancy
679 // KF: So far I have found no good method to combine a script-requested
680 // .Z velocity and gravity. Therefore only 0g will used script-requested
681 // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
682 Vector3 grav = Vector3.Zero;
683 // There is some gravity, make a gravity force vector that is applied after object velocity. 552 // There is some gravity, make a gravity force vector that is applied after object velocity.
684 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 553 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
685 grav.Z = m_prim.Scene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); 554 Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy));
555
556 /*
557 * RA: Not sure why one would do this
686 // Preserve the current Z velocity 558 // Preserve the current Z velocity
687 Vector3 vel_now = m_prim.Velocity; 559 Vector3 vel_now = m_prim.Velocity;
688 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity 560 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
561 */
689 562
690 Vector3 pos = m_prim.Position; 563 Vector3 pos = Prim.Position;
691 Vector3 posChange = pos;
692// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); 564// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
693 double Zchange = Math.Abs(posChange.Z);
694 if (m_BlockingEndPoint != Vector3.Zero)
695 {
696 bool changed = false;
697 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
698 {
699 pos.X -= posChange.X + 1;
700 changed = true;
701 }
702 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
703 {
704 pos.Y -= posChange.Y + 1;
705 changed = true;
706 }
707 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
708 {
709 pos.Z -= posChange.Z + 1;
710 changed = true;
711 }
712 if (pos.X <= 0)
713 {
714 pos.X += posChange.X + 1;
715 changed = true;
716 }
717 if (pos.Y <= 0)
718 {
719 pos.Y += posChange.Y + 1;
720 changed = true;
721 }
722 if (changed)
723 {
724 m_prim.Position = pos;
725 DetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
726 m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
727 }
728 }
729 565
730 // If below the terrain, move us above the ground a little. 566 // If below the terrain, move us above the ground a little.
731 if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos)) 567 float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
568 // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
569 // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
570 // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation;
571 // if (rotatedSize.Z < terrainHeight)
572 if (pos.Z < terrainHeight)
732 { 573 {
733 pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2; 574 pos.Z = terrainHeight + 2;
734 m_prim.Position = pos; 575 Prim.Position = pos;
735 DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); 576 VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
736 } 577 }
737 578
738 // Check if hovering 579 // Check if hovering
739 if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) 580 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
740 { 581 {
741 // We should hover, get the target height 582 // We should hover, get the target height
742 if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) 583 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
743 { 584 {
744 m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight; 585 m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
745 } 586 }
746 if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) 587 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
747 { 588 {
748 m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; 589 m_VhoverTargetHeight = terrainHeight + m_VhoverHeight;
749 } 590 }
750 if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) 591 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
751 { 592 {
752 m_VhoverTargetHeight = m_VhoverHeight; 593 m_VhoverTargetHeight = m_VhoverHeight;
753 } 594 }
754 595
755 if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0) 596 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
756 { 597 {
757 // If body is aready heigher, use its height as target height 598 // If body is aready heigher, use its height as target height
758 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; 599 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
759 } 600 }
760 if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) 601 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
761 { 602 {
762 if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) 603 if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
763 { 604 {
764 m_prim.Position = pos; 605 Prim.Position = pos;
765 } 606 }
766 } 607 }
767 else 608 else
@@ -770,85 +611,96 @@ namespace OpenSim.Region.Physics.BulletSPlugin
770 // Replace Vertical speed with correction figure if significant 611 // Replace Vertical speed with correction figure if significant
771 if (Math.Abs(herr0) > 0.01f) 612 if (Math.Abs(herr0) > 0.01f)
772 { 613 {
773 m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale); 614 m_newVelocity.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
774 //KF: m_VhoverEfficiency is not yet implemented 615 //KF: m_VhoverEfficiency is not yet implemented
775 } 616 }
776 else 617 else
777 { 618 {
778 m_dir.Z = 0f; 619 m_newVelocity.Z = 0f;
779 } 620 }
780 } 621 }
781 622
782 DetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight); 623 VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight);
624 }
783 625
784// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped 626 Vector3 posChange = pos - m_lastPositionVector;
785// m_VhoverTimescale = 0f; // time to acheive height 627 if (m_BlockingEndPoint != Vector3.Zero)
786// pTimestep is time since last frame,in secs 628 {
629 bool changed = false;
630 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
631 {
632 pos.X -= posChange.X + 1;
633 changed = true;
634 }
635 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
636 {
637 pos.Y -= posChange.Y + 1;
638 changed = true;
639 }
640 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
641 {
642 pos.Z -= posChange.Z + 1;
643 changed = true;
644 }
645 if (pos.X <= 0)
646 {
647 pos.X += posChange.X + 1;
648 changed = true;
649 }
650 if (pos.Y <= 0)
651 {
652 pos.Y += posChange.Y + 1;
653 changed = true;
654 }
655 if (changed)
656 {
657 Prim.Position = pos;
658 VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
659 Prim.LocalID, m_BlockingEndPoint, posChange, pos);
660 }
787 } 661 }
788 662
663 float Zchange = Math.Abs(posChange.Z);
789 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) 664 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
790 { 665 {
791 //Start Experimental Values
792 if (Zchange > .3) 666 if (Zchange > .3)
793 {
794 grav.Z = (float)(grav.Z * 3); 667 grav.Z = (float)(grav.Z * 3);
795 }
796 if (Zchange > .15) 668 if (Zchange > .15)
797 {
798 grav.Z = (float)(grav.Z * 2); 669 grav.Z = (float)(grav.Z * 2);
799 }
800 if (Zchange > .75) 670 if (Zchange > .75)
801 {
802 grav.Z = (float)(grav.Z * 1.5); 671 grav.Z = (float)(grav.Z * 1.5);
803 }
804 if (Zchange > .05) 672 if (Zchange > .05)
805 {
806 grav.Z = (float)(grav.Z * 1.25); 673 grav.Z = (float)(grav.Z * 1.25);
807 }
808 if (Zchange > .025) 674 if (Zchange > .025)
809 {
810 grav.Z = (float)(grav.Z * 1.125); 675 grav.Z = (float)(grav.Z * 1.125);
811 } 676 float postemp = (pos.Z - terrainHeight);
812 float terraintemp = m_prim.Scene.GetTerrainHeightAtXYZ(pos);
813 float postemp = (pos.Z - terraintemp);
814 if (postemp > 2.5f) 677 if (postemp > 2.5f)
815 {
816 grav.Z = (float)(grav.Z * 1.037125); 678 grav.Z = (float)(grav.Z * 1.037125);
817 } 679 VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav);
818 DetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav);
819 //End Experimental Values
820 } 680 }
821 if ((m_flags & (VehicleFlag.NO_X)) != 0) 681 if ((m_flags & (VehicleFlag.NO_X)) != 0)
822 { 682 m_newVelocity.X = 0;
823 m_dir.X = 0;
824 }
825 if ((m_flags & (VehicleFlag.NO_Y)) != 0) 683 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
826 { 684 m_newVelocity.Y = 0;
827 m_dir.Y = 0;
828 }
829 if ((m_flags & (VehicleFlag.NO_Z)) != 0) 685 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
830 { 686 m_newVelocity.Z = 0;
831 m_dir.Z = 0;
832 }
833
834 m_lastPositionVector = m_prim.Position;
835 687
836 // Apply velocity 688 // Apply velocity
837 m_prim.Velocity = m_dir; 689 Prim.Velocity = m_newVelocity;
838 // apply gravity force 690 // apply gravity force
839 // Why is this set here? The physics engine already does gravity. 691 // Why is this set here? The physics engine already does gravity.
840 // m_prim.AddForce(grav, false); 692 // m_prim.AddForce(grav, false);
841 // m_prim.Force = grav;
842 693
843 // Apply friction 694 // Apply friction
844 Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); 695 Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep));
845 m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; 696 m_lastLinearVelocityVector *= keepFraction;
846 697
847 DetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", 698 VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}",
848 m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount); 699 Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction);
849 700
850 } // end MoveLinear() 701 } // end MoveLinear()
851 702
703 // Apply the effect of the angular motor.
852 private void MoveAngular(float pTimestep) 704 private void MoveAngular(float pTimestep)
853 { 705 {
854 // m_angularMotorDirection // angular velocity requested by LSL motor 706 // m_angularMotorDirection // angular velocity requested by LSL motor
@@ -860,7 +712,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
860 // m_lastAngularVelocity // what was last applied to body 712 // m_lastAngularVelocity // what was last applied to body
861 713
862 // Get what the body is doing, this includes 'external' influences 714 // Get what the body is doing, this includes 'external' influences
863 Vector3 angularVelocity = m_prim.RotationalVelocity; 715 Vector3 angularVelocity = Prim.RotationalVelocity;
864 716
865 if (m_angularMotorApply > 0) 717 if (m_angularMotorApply > 0)
866 { 718 {
@@ -870,32 +722,35 @@ namespace OpenSim.Region.Physics.BulletSPlugin
870 // There are m_angularMotorApply steps. 722 // There are m_angularMotorApply steps.
871 Vector3 origAngularVelocity = m_angularMotorVelocity; 723 Vector3 origAngularVelocity = m_angularMotorVelocity;
872 // ramp up to new value 724 // ramp up to new value
873 // current velocity += error / (time to get there / step interval) 725 // current velocity += error / ( time to get there / step interval)
874 // requested speed - last motor speed 726 // requested speed - last motor speed
875 m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); 727 m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep);
876 m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); 728 m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
877 m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); 729 m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
878 730
879 DetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", 731 VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}",
880 m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); 732 Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
881 733
882 m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected 734 // This is done so that if script request rate is less than phys frame rate the expected
883 // velocity may still be acheived. 735 // velocity may still be acheived.
736 m_angularMotorApply--;
884 } 737 }
885 else 738 else
886 { 739 {
887 // No motor recently applied, keep the body velocity 740 // No motor recently applied, keep the body velocity
888 // and decay the velocity 741 // and decay the velocity
889 m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); 742 m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
743 if (m_angularMotorVelocity.LengthSquared() < 0.00001)
744 m_angularMotorVelocity = Vector3.Zero;
890 } // end motor section 745 } // end motor section
891 746
892 // Vertical attractor section 747 // Vertical attractor section
893 Vector3 vertattr = Vector3.Zero; 748 Vector3 vertattr = Vector3.Zero;
894 if (m_verticalAttractionTimescale < 300) 749 if (m_verticalAttractionTimescale < 300)
895 { 750 {
896 float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); 751 float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep);
897 // get present body rotation 752 // get present body rotation
898 Quaternion rotq = m_prim.Orientation; 753 Quaternion rotq = Prim.Orientation;
899 // make a vector pointing up 754 // make a vector pointing up
900 Vector3 verterr = Vector3.Zero; 755 Vector3 verterr = Vector3.Zero;
901 verterr.Z = 1.0f; 756 verterr.Z = 1.0f;
@@ -924,8 +779,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
924 vertattr.X += bounce * angularVelocity.X; 779 vertattr.X += bounce * angularVelocity.X;
925 vertattr.Y += bounce * angularVelocity.Y; 780 vertattr.Y += bounce * angularVelocity.Y;
926 781
927 DetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", 782 VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}",
928 m_prim.LocalID, verterr, bounce, vertattr); 783 Prim.LocalID, verterr, bounce, vertattr);
929 784
930 } // else vertical attractor is off 785 } // else vertical attractor is off
931 786
@@ -937,18 +792,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
937 792
938 // Sum velocities 793 // Sum velocities
939 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection 794 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
940 795
941 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) 796 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
942 { 797 {
943 m_lastAngularVelocity.X = 0; 798 m_lastAngularVelocity.X = 0;
944 m_lastAngularVelocity.Y = 0; 799 m_lastAngularVelocity.Y = 0;
945 DetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); 800 VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
946 } 801 }
947 802
948 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) 803 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
949 { 804 {
950 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. 805 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
951 DetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); 806 VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
952 } 807 }
953 808
954 // apply friction 809 // apply friction
@@ -956,14 +811,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
956 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; 811 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
957 812
958 // Apply to the body 813 // Apply to the body
959 m_prim.RotationalVelocity = m_lastAngularVelocity; 814 Prim.RotationalVelocity = m_lastAngularVelocity;
960 815
961 DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); 816 VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity);
962 } //end MoveAngular 817 } //end MoveAngular
963 818
964 internal void LimitRotation(float timestep) 819 internal void LimitRotation(float timestep)
965 { 820 {
966 Quaternion rotq = m_prim.Orientation; 821 Quaternion rotq = Prim.Orientation;
967 Quaternion m_rot = rotq; 822 Quaternion m_rot = rotq;
968 bool changed = false; 823 bool changed = false;
969 if (m_RollreferenceFrame != Quaternion.Identity) 824 if (m_RollreferenceFrame != Quaternion.Identity)
@@ -996,23 +851,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
996 m_rot.Y = 0; 851 m_rot.Y = 0;
997 changed = true; 852 changed = true;
998 } 853 }
999 if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) 854 if (changed)
1000 { 855 {
1001 m_rot.X = 0; 856 Prim.Orientation = m_rot;
1002 m_rot.Y = 0; 857 VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
1003 changed = true;
1004 } 858 }
1005 if (changed)
1006 m_prim.Orientation = m_rot;
1007 859
1008 DetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot);
1009 } 860 }
1010 861
1011 // Invoke the detailed logger and output something if it's enabled. 862 // Invoke the detailed logger and output something if it's enabled.
1012 private void DetailLog(string msg, params Object[] args) 863 private void VDetailLog(string msg, params Object[] args)
1013 { 864 {
1014 if (m_prim.Scene.VehicleLoggingEnabled) 865 if (Prim.PhysicsScene.VehicleLoggingEnabled)
1015 m_prim.Scene.PhysicsLogging.Write(msg, args); 866 Prim.PhysicsScene.PhysicsLogging.Write(msg, args);
1016 } 867 }
1017 } 868 }
1018} 869}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs
index d68048b..7c8a215 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs
@@ -1,55 +1,57 @@
1/* 1/*
2 * Copyright (c) Contributors, http://opensimulator.org/ 2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders. 3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 * 4 *
5 * Redistribution and use in source and binary forms, with or without 5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer. 8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD 9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the 10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution. 11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the 12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products 13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission. 14 * derived from this software without specific prior written permission.
15 * 15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY 16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY 19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Text; 29using System.Text;
30using OpenMetaverse; 30using OpenMetaverse;
31 31
32namespace OpenSim.Region.Physics.BulletSPlugin 32namespace OpenSim.Region.Physics.BulletSPlugin
33{ 33{
34 34
35class BSHingeConstraint : BSConstraint 35class BSHingeConstraint : BSConstraint
36{ 36{
37 public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, 37 public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
38 Vector3 pivotInA, Vector3 pivotInB, 38
39 Vector3 axisInA, Vector3 axisInB, 39 public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
40 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 40 Vector3 pivotInA, Vector3 pivotInB,
41 { 41 Vector3 axisInA, Vector3 axisInB,
42 m_world = world; 42 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
43 m_body1 = obj1; 43 {
44 m_body2 = obj2; 44 m_world = world;
45 m_constraint = new BulletConstraint( 45 m_body1 = obj1;
46 BulletSimAPI.CreateHingeConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, 46 m_body2 = obj2;
47 pivotInA, pivotInB, 47 m_constraint = new BulletConstraint(
48 axisInA, axisInB, 48 BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
49 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); 49 pivotInA, pivotInB,
50 m_enabled = true; 50 axisInA, axisInB,
51 } 51 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
52 52 m_enabled = true;
53} 53 }
54 54
55} 55}
56
57}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 087b9bb..4f225ae 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -36,14 +36,24 @@ public class BSLinkset
36{ 36{
37 private static string LogHeader = "[BULLETSIM LINKSET]"; 37 private static string LogHeader = "[BULLETSIM LINKSET]";
38 38
39 private BSPrim m_linksetRoot; 39 public BSPhysObject LinksetRoot { get; protected set; }
40 public BSPrim LinksetRoot { get { return m_linksetRoot; } }
41 40
42 private BSScene m_physicsScene; 41 public BSScene PhysicsScene { get; private set; }
43 public BSScene PhysicsScene { get { return m_physicsScene; } }
44 42
45 // The children under the root in this linkset 43 static int m_nextLinksetID = 1;
46 private List<BSPrim> m_children; 44 public int LinksetID { get; private set; }
45
46 // The children under the root in this linkset.
47 // There are two lists of children: the current children at runtime
48 // and the children at taint-time. For instance, if you delink a
49 // child from the linkset, the child is removed from m_children
50 // but the constraint won't be removed until taint time.
51 // Two lists lets this track the 'current' children and
52 // the physical 'taint' children separately.
53 // After taint processing and before the simulation step, these
54 // two lists must be the same.
55 private List<BSPhysObject> m_children;
56 private List<BSPhysObject> m_taintChildren;
47 57
48 // We lock the diddling of linkset classes to prevent any badness. 58 // We lock the diddling of linkset classes to prevent any badness.
49 // This locks the modification of the instances of this class. Changes 59 // This locks the modification of the instances of this class. Changes
@@ -52,9 +62,9 @@ public class BSLinkset
52 62
53 // We keep the prim's mass in the linkset structure since it could be dependent on other prims 63 // We keep the prim's mass in the linkset structure since it could be dependent on other prims
54 private float m_mass; 64 private float m_mass;
55 public float LinksetMass 65 public float LinksetMass
56 { 66 {
57 get 67 get
58 { 68 {
59 m_mass = ComputeLinksetMass(); 69 m_mass = ComputeLinksetMass();
60 return m_mass; 70 return m_mass;
@@ -71,23 +81,31 @@ public class BSLinkset
71 get { return ComputeLinksetGeometricCenter(); } 81 get { return ComputeLinksetGeometricCenter(); }
72 } 82 }
73 83
74 public BSLinkset(BSScene scene, BSPrim parent) 84 public BSLinkset(BSScene scene, BSPhysObject parent)
75 { 85 {
76 // A simple linkset of one (no children) 86 // A simple linkset of one (no children)
77 m_physicsScene = scene; 87 LinksetID = m_nextLinksetID++;
78 m_linksetRoot = parent; 88 // We create LOTS of linksets.
79 m_children = new List<BSPrim>(); 89 if (m_nextLinksetID <= 0)
90 m_nextLinksetID = 1;
91 PhysicsScene = scene;
92 LinksetRoot = parent;
93 m_children = new List<BSPhysObject>();
94 m_taintChildren = new List<BSPhysObject>();
80 m_mass = parent.MassRaw; 95 m_mass = parent.MassRaw;
81 } 96 }
82 97
83 // Link to a linkset where the child knows the parent. 98 // Link to a linkset where the child knows the parent.
84 // Parent changing should not happen so do some sanity checking. 99 // Parent changing should not happen so do some sanity checking.
85 // We return the parent's linkset so the child can track its membership. 100 // We return the parent's linkset so the child can track its membership.
86 public BSLinkset AddMeToLinkset(BSPrim child) 101 // Called at runtime.
102 public BSLinkset AddMeToLinkset(BSPhysObject child)
87 { 103 {
88 lock (m_linksetActivityLock) 104 lock (m_linksetActivityLock)
89 { 105 {
90 AddChildToLinkset(child); 106 // Don't add the root to its own linkset
107 if (!IsRoot(child))
108 AddChildToLinkset(child);
91 } 109 }
92 return this; 110 return this;
93 } 111 }
@@ -95,26 +113,18 @@ public class BSLinkset
95 // Remove a child from a linkset. 113 // Remove a child from a linkset.
96 // Returns a new linkset for the child which is a linkset of one (just the 114 // Returns a new linkset for the child which is a linkset of one (just the
97 // orphened child). 115 // orphened child).
98 public BSLinkset RemoveMeFromLinkset(BSPrim child) 116 // Called at runtime.
117 public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
99 { 118 {
100 lock (m_linksetActivityLock) 119 lock (m_linksetActivityLock)
101 { 120 {
102 if (IsRoot(child)) 121 if (IsRoot(child))
103 { 122 {
104 // if root of linkset, take the linkset apart 123 // Cannot remove the root from a linkset.
105 while (m_children.Count > 0) 124 return this;
106 {
107 // Note that we don't do a foreach because the remove routine
108 // takes it out of the list.
109 RemoveChildFromOtherLinkset(m_children[0]);
110 }
111 m_children.Clear(); // just to make sure
112 }
113 else
114 {
115 // Just removing a child from an existing linkset
116 RemoveChildFromLinkset(child);
117 } 125 }
126
127 RemoveChildFromLinkset(child);
118 } 128 }
119 129
120 // The child is down to a linkset of just itself 130 // The child is down to a linkset of just itself
@@ -122,9 +132,9 @@ public class BSLinkset
122 } 132 }
123 133
124 // Return 'true' if the passed object is the root object of this linkset 134 // Return 'true' if the passed object is the root object of this linkset
125 public bool IsRoot(BSPrim requestor) 135 public bool IsRoot(BSPhysObject requestor)
126 { 136 {
127 return (requestor.LocalID == m_linksetRoot.LocalID); 137 return (requestor.LocalID == LinksetRoot.LocalID);
128 } 138 }
129 139
130 public int NumberOfChildren { get { return m_children.Count; } } 140 public int NumberOfChildren { get { return m_children.Count; } }
@@ -133,12 +143,12 @@ public class BSLinkset
133 public bool HasAnyChildren { get { return (m_children.Count > 0); } } 143 public bool HasAnyChildren { get { return (m_children.Count > 0); } }
134 144
135 // Return 'true' if this child is in this linkset 145 // Return 'true' if this child is in this linkset
136 public bool HasChild(BSPrim child) 146 public bool HasChild(BSPhysObject child)
137 { 147 {
138 bool ret = false; 148 bool ret = false;
139 lock (m_linksetActivityLock) 149 lock (m_linksetActivityLock)
140 { 150 {
141 foreach (BSPrim bp in m_children) 151 foreach (BSPhysObject bp in m_children)
142 { 152 {
143 if (child.LocalID == bp.LocalID) 153 if (child.LocalID == bp.LocalID)
144 { 154 {
@@ -150,117 +160,192 @@ public class BSLinkset
150 return ret; 160 return ret;
151 } 161 }
152 162
153 private float ComputeLinksetMass() 163 // The object is going dynamic (physical). Do any setup necessary
164 // for a dynamic linkset.
165 // Only the state of the passed object can be modified. The rest of the linkset
166 // has not yet been fully constructed.
167 // Return 'true' if any properties updated on the passed object.
168 // Called at taint-time!
169 public bool MakeDynamic(BSPhysObject child)
170 {
171 // What is done for each object in BSPrim is what we want.
172 return false;
173 }
174
175 // The object is going static (non-physical). Do any setup necessary
176 // for a static linkset.
177 // Return 'true' if any properties updated on the passed object.
178 // Called at taint-time!
179 public bool MakeStatic(BSPhysObject child)
180 {
181 // What is done for each object in BSPrim is what we want.
182 return false;
183 }
184
185 // When physical properties are changed the linkset needs to recalculate
186 // its internal properties.
187 // Called at runtime.
188 public void Refresh(BSPhysObject requestor)
154 { 189 {
155 float mass = m_linksetRoot.MassRaw; 190 // If there are no children, there can't be any constraints to recompute
156 foreach (BSPrim bp in m_children) 191 if (!HasAnyChildren)
192 return;
193
194 // Only the root does the recomputation
195 if (IsRoot(requestor))
157 { 196 {
158 mass += bp.MassRaw; 197 PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
198 {
199 RecomputeLinksetConstraintVariables();
200 });
159 } 201 }
160 return mass;
161 } 202 }
162 203
163 private OMV.Vector3 ComputeLinksetCenterOfMass() 204 // Routine used when rebuilding the body of the root of the linkset
205 // Destroy all the constraints have have been made to root.
206 // This is called when the root body is changing.
207 // Returns 'true' of something eas actually removed and would need restoring
208 // Called at taint-time!!
209 public bool RemoveBodyDependencies(BSPrim child)
164 { 210 {
165 OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw; 211 bool ret = false;
166 float totalMass = m_linksetRoot.MassRaw;
167 212
168 lock (m_linksetActivityLock) 213 lock (m_linksetActivityLock)
169 { 214 {
170 foreach (BSPrim bp in m_children) 215 if (IsRoot(child))
171 { 216 {
172 com += bp.Position * bp.MassRaw; 217 // If the one with the dependency is root, must undo all children
173 totalMass += bp.MassRaw; 218 DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}",
219 child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
220 foreach (BSPhysObject bpo in m_taintChildren)
221 {
222 PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
223 ret = true;
224 }
225 }
226 else
227 {
228 DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
229 child.LocalID,
230 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
231 child.LocalID, child.BSBody.ptr.ToString("X"));
232 // Remove the dependency on the body of this one
233 if (m_taintChildren.Contains(child))
234 {
235 PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
236 ret = true;
237 }
174 } 238 }
175 if (totalMass != 0f)
176 com /= totalMass;
177 } 239 }
178 240 return ret;
179 return com;
180 } 241 }
181 242
182 private OMV.Vector3 ComputeLinksetGeometricCenter() 243 // Routine used when rebuilding the body of the root of the linkset
244 // This is called after RemoveAllLinksToRoot() to restore all the constraints.
245 // This is called when the root body has been changed.
246 // Called at taint-time!!
247 public void RestoreBodyDependencies(BSPrim child)
183 { 248 {
184 OMV.Vector3 com = m_linksetRoot.Position;
185
186 lock (m_linksetActivityLock) 249 lock (m_linksetActivityLock)
187 { 250 {
188 foreach (BSPrim bp in m_children) 251 if (IsRoot(child))
189 { 252 {
190 com += bp.Position * bp.MassRaw; 253 DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
254 child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
255 foreach (BSPhysObject bpo in m_taintChildren)
256 {
257 PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
258 }
259 }
260 else
261 {
262 DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
263 LinksetRoot.LocalID,
264 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
265 child.LocalID, child.BSBody.ptr.ToString("X"));
266 PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
191 } 267 }
192 com /= (m_children.Count + 1);
193 } 268 }
194
195 return com;
196 } 269 }
197 270
198 // When physical properties are changed the linkset needs to recalculate 271 // ================================================================
199 // its internal properties. 272 // Below this point is internal magic
200 public void Refresh(BSPrim requestor) 273
274 private float ComputeLinksetMass()
201 { 275 {
202 // If there are no children, there aren't any constraints to recompute 276 float mass;
203 if (!HasAnyChildren) 277 lock (m_linksetActivityLock)
204 return; 278 {
279 mass = LinksetRoot.MassRaw;
280 foreach (BSPhysObject bp in m_taintChildren)
281 {
282 mass += bp.MassRaw;
283 }
284 }
285 return mass;
286 }
205 287
206 // Only the root does the recomputation 288 private OMV.Vector3 ComputeLinksetCenterOfMass()
207 if (IsRoot(requestor)) 289 {
290 OMV.Vector3 com;
291 lock (m_linksetActivityLock)
208 { 292 {
209 PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate() 293 com = LinksetRoot.Position * LinksetRoot.MassRaw;
294 float totalMass = LinksetRoot.MassRaw;
295
296 foreach (BSPhysObject bp in m_taintChildren)
210 { 297 {
211 RecomputeLinksetConstraintVariables(); 298 com += bp.Position * bp.MassRaw;
212 }); 299 totalMass += bp.MassRaw;
300 }
301 if (totalMass != 0f)
302 com /= totalMass;
213 } 303 }
304
305 return com;
214 } 306 }
215 307
216 // Call each of the constraints that make up this linkset and recompute the 308 private OMV.Vector3 ComputeLinksetGeometricCenter()
217 // various transforms and variables. Used when objects are added or removed
218 // from a linkset to make sure the constraints know about the new mass and
219 // geometry.
220 // Must only be called at taint time!!
221 private bool RecomputeLinksetConstraintVariables()
222 { 309 {
223 float linksetMass = LinksetMass; 310 OMV.Vector3 com;
224 lock (m_linksetActivityLock) 311 lock (m_linksetActivityLock)
225 { 312 {
226 foreach (BSPrim child in m_children) 313 com = LinksetRoot.Position;
314
315 foreach (BSPhysObject bp in m_taintChildren)
227 { 316 {
228 BSConstraint constrain; 317 com += bp.Position * bp.MassRaw;
229 if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.Body, child.Body, out constrain))
230 {
231 // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
232 // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
233 constrain.RecomputeConstraintVariables(linksetMass);
234 }
235 else
236 {
237 // Non-fatal error that can happen when children are being added to the linkset but
238 // their constraints have not been created yet.
239 // Caused by the fact that m_children is built at run time but building constraints
240 // happens at taint time.
241 // m_physicsScene.Logger.ErrorFormat("[BULLETSIM LINKSET] RecomputeLinksetConstraintVariables: constraint not found for root={0}, child={1}",
242 // m_linksetRoot.Body.ID, child.Body.ID);
243 }
244 } 318 }
319 com /= (m_taintChildren.Count + 1);
245 } 320 }
246 return false; 321
322 return com;
247 } 323 }
248 324
249 // I am the root of a linkset and a new child is being added 325 // I am the root of a linkset and a new child is being added
250 // Called while LinkActivity is locked. 326 // Called while LinkActivity is locked.
251 private void AddChildToLinkset(BSPrim child) 327 private void AddChildToLinkset(BSPhysObject child)
252 { 328 {
253 if (!HasChild(child)) 329 if (!HasChild(child))
254 { 330 {
255 m_children.Add(child); 331 m_children.Add(child);
256 332
257 BSPrim rootx = LinksetRoot; // capture the root as of now 333 BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
258 BSPrim childx = child; 334 BulletBody rootBodyx = LinksetRoot.BSBody;
259 m_physicsScene.TaintedObject("AddChildToLinkset", delegate() 335 BSPhysObject childx = child;
336 BulletBody childBodyx = child.BSBody;
337
338 DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
339 rootx.LocalID,
340 rootx.LocalID, rootBodyx.ptr.ToString("X"),
341 childx.LocalID, childBodyx.ptr.ToString("X"));
342
343 PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
260 { 344 {
261 // DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); 345 DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
262 // DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); 346 // build the physical binding between me and the child
263 PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child 347 m_taintChildren.Add(childx);
348 PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx);
264 }); 349 });
265 } 350 }
266 return; 351 return;
@@ -270,30 +355,38 @@ public class BSLinkset
270 // This is not being called by the child so we have to make sure the child doesn't think 355 // This is not being called by the child so we have to make sure the child doesn't think
271 // it's still connected to the linkset. 356 // it's still connected to the linkset.
272 // Normal OpenSimulator operation will never do this because other SceneObjectPart information 357 // Normal OpenSimulator operation will never do this because other SceneObjectPart information
273 // has to be updated also (like pointer to prim's parent). 358 // also has to be updated (like pointer to prim's parent).
274 private void RemoveChildFromOtherLinkset(BSPrim pchild) 359 private void RemoveChildFromOtherLinkset(BSPhysObject pchild)
275 { 360 {
276 pchild.Linkset = new BSLinkset(m_physicsScene, pchild); 361 pchild.Linkset = new BSLinkset(PhysicsScene, pchild);
277 RemoveChildFromLinkset(pchild); 362 RemoveChildFromLinkset(pchild);
278 } 363 }
279 364
280 // I am the root of a linkset and one of my children is being removed. 365 // I am the root of a linkset and one of my children is being removed.
281 // Safe to call even if the child is not really in my linkset. 366 // Safe to call even if the child is not really in my linkset.
282 private void RemoveChildFromLinkset(BSPrim child) 367 private void RemoveChildFromLinkset(BSPhysObject child)
283 { 368 {
284 if (m_children.Remove(child)) 369 if (m_children.Remove(child))
285 { 370 {
286 BSPrim rootx = LinksetRoot; // capture the root as of now 371 BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
287 BSPrim childx = child; 372 BulletBody rootBodyx = LinksetRoot.BSBody;
288 m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate() 373 BSPhysObject childx = child;
374 BulletBody childBodyx = child.BSBody;
375
376 DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
377 childx.LocalID,
378 rootx.LocalID, rootBodyx.ptr.ToString("X"),
379 childx.LocalID, childBodyx.ptr.ToString("X"));
380
381 PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
289 { 382 {
290 // DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); 383 if (m_taintChildren.Contains(childx))
291 // DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); 384 m_taintChildren.Remove(childx);
292 385
293 PhysicallyUnlinkAChildFromRoot(rootx, childx); 386 PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx);
387 RecomputeLinksetConstraintVariables();
294 }); 388 });
295 389
296 RecomputeLinksetConstraintVariables();
297 } 390 }
298 else 391 else
299 { 392 {
@@ -305,7 +398,8 @@ public class BSLinkset
305 398
306 // Create a constraint between me (root of linkset) and the passed prim (the child). 399 // Create a constraint between me (root of linkset) and the passed prim (the child).
307 // Called at taint time! 400 // Called at taint time!
308 private void PhysicallyLinkAChildToRoot(BSPrim rootPrim, BSPrim childPrim) 401 private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody,
402 BSPhysObject childPrim, BulletBody childBody)
309 { 403 {
310 // Zero motion for children so they don't interpolate 404 // Zero motion for children so they don't interpolate
311 childPrim.ZeroMotion(); 405 childPrim.ZeroMotion();
@@ -317,21 +411,38 @@ public class BSLinkset
317 // real world coordinate of midpoint between the two objects 411 // real world coordinate of midpoint between the two objects
318 OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); 412 OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
319 413
414 DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
415 rootPrim.LocalID,
416 rootPrim.LocalID, rootBody.ptr.ToString("X"),
417 childPrim.LocalID, childBody.ptr.ToString("X"),
418 rootPrim.Position, childPrim.Position, midPoint);
419
320 // create a constraint that allows no freedom of movement between the two objects 420 // create a constraint that allows no freedom of movement between the two objects
321 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 421 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
322 // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); 422
323 DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", 423 // There is great subtlty in these paramters. Notice the check for a ptr of zero.
324 rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint); 424 // We pass the BulletBody structure into the taint in order to capture the pointer
425 // of the body at the time of constraint creation. This doesn't work for the very first
426 // construction because there is no body yet. The body
427 // is constructed later at taint time. Thus we use the body address at time of the
428 // taint creation but, if it is zero, use what's in the prim at the moment.
429 // There is a possible race condition since shape can change without a taint call
430 // (like changing to a mesh that is already constructed). The fix for that would be
431 // to only change BSShape at taint time thus syncronizing these operations at
432 // the cost of efficiency and lag.
325 BS6DofConstraint constrain = new BS6DofConstraint( 433 BS6DofConstraint constrain = new BS6DofConstraint(
326 m_physicsScene.World, rootPrim.Body, childPrim.Body, 434 PhysicsScene.World,
435 rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody,
436 childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody,
327 midPoint, 437 midPoint,
328 true, 438 true,
329 true 439 true
330 ); 440 );
331 /* NOTE: attempt to build constraint with full frame computation, etc. 441
332 * Using the midpoint is easier since it lets the Bullet code use the transforms 442 /* NOTE: below is an attempt to build constraint with full frame computation, etc.
443 * Using the midpoint is easier since it lets the Bullet code manipulate the transforms
333 * of the objects. 444 * of the objects.
334 * Code left here as an example. 445 * Code left as a warning to future programmers.
335 // ================================================================================== 446 // ==================================================================================
336 // relative position normalized to the root prim 447 // relative position normalized to the root prim
337 OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); 448 OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
@@ -343,7 +454,6 @@ public class BSLinkset
343 454
344 // create a constraint that allows no freedom of movement between the two objects 455 // create a constraint that allows no freedom of movement between the two objects
345 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 456 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
346 // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID);
347 DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); 457 DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
348 BS6DofConstraint constrain = new BS6DofConstraint( 458 BS6DofConstraint constrain = new BS6DofConstraint(
349 PhysicsScene.World, rootPrim.Body, childPrim.Body, 459 PhysicsScene.World, rootPrim.Body, childPrim.Body,
@@ -362,7 +472,7 @@ public class BSLinkset
362 // ================================================================================== 472 // ==================================================================================
363 */ 473 */
364 474
365 m_physicsScene.Constraints.AddConstraint(constrain); 475 PhysicsScene.Constraints.AddConstraint(constrain);
366 476
367 // zero linear and angular limits makes the objects unable to move in relation to each other 477 // zero linear and angular limits makes the objects unable to move in relation to each other
368 constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); 478 constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
@@ -374,46 +484,88 @@ public class BSLinkset
374 PhysicsScene.Params.linkConstraintTransMotorMaxVel, 484 PhysicsScene.Params.linkConstraintTransMotorMaxVel,
375 PhysicsScene.Params.linkConstraintTransMotorMaxForce); 485 PhysicsScene.Params.linkConstraintTransMotorMaxForce);
376 constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); 486 constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
487 if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
488 {
489 constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
490 }
377 491
378 RecomputeLinksetConstraintVariables(); 492 RecomputeLinksetConstraintVariables();
379 } 493 }
380 494
381 // Remove linkage between myself and a particular child 495 // Remove linkage between myself and a particular child
496 // The root and child bodies are passed in because we need to remove the constraint between
497 // the bodies that were at unlink time.
382 // Called at taint time! 498 // Called at taint time!
383 private void PhysicallyUnlinkAChildFromRoot(BSPrim rootPrim, BSPrim childPrim) 499 private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody,
500 BSPhysObject childPrim, BulletBody childBody)
384 { 501 {
385 // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", 502 DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
386 // LogHeader, rootPrim.LocalID, childPrim.LocalID); 503 rootPrim.LocalID,
387 DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); 504 rootPrim.LocalID, rootBody.ptr.ToString("X"),
505 childPrim.LocalID, childBody.ptr.ToString("X"));
388 506
389 // Find the constraint for this link and get rid of it from the overall collection and from my list 507 // Find the constraint for this link and get rid of it from the overall collection and from my list
390 m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body); 508 PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody);
391 509
392 // Make the child refresh its location 510 // Make the child refresh its location
393 BulletSimAPI.PushUpdate2(childPrim.Body.Ptr); 511 BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
394 } 512 }
395 513
396 // Remove linkage between myself and any possible children I might have 514 /*
515 // Remove linkage between myself and any possible children I might have.
397 // Called at taint time! 516 // Called at taint time!
398 private void PhysicallyUnlinkAllChildrenFromRoot(BSPrim rootPrim) 517 private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
399 { 518 {
400 // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader);
401 DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); 519 DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
402 520
403 m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body); 521 PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
404 } 522 }
523 */
405 524
406 // Invoke the detailed logger and output something if it's enabled. 525 // Call each of the constraints that make up this linkset and recompute the
407 private void DebugLog(string msg, params Object[] args) 526 // various transforms and variables. Used when objects are added or removed
527 // from a linkset to make sure the constraints know about the new mass and
528 // geometry.
529 // Must only be called at taint time!!
530 private void RecomputeLinksetConstraintVariables()
408 { 531 {
409 if (m_physicsScene.ShouldDebugLog) 532 float linksetMass = LinksetMass;
410 m_physicsScene.Logger.DebugFormat(msg, args); 533 foreach (BSPhysObject child in m_taintChildren)
534 {
535 BSConstraint constrain;
536 if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
537 {
538 // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
539 // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
540 constrain.RecomputeConstraintVariables(linksetMass);
541 }
542 else
543 {
544 // Non-fatal error that happens when children are being added to the linkset but
545 // their constraints have not been created yet.
546 break;
547 }
548 }
549
550 // If the whole linkset is not here, doesn't make sense to recompute linkset wide values
551 if (m_children.Count == m_taintChildren.Count)
552 {
553 // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
554 OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
555 BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
556 foreach (BSPhysObject child in m_taintChildren)
557 {
558 BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
559 }
560 }
561 return;
411 } 562 }
412 563
564
413 // Invoke the detailed logger and output something if it's enabled. 565 // Invoke the detailed logger and output something if it's enabled.
414 private void DetailLog(string msg, params Object[] args) 566 private void DetailLog(string msg, params Object[] args)
415 { 567 {
416 m_physicsScene.PhysicsLogging.Write(msg, args); 568 PhysicsScene.PhysicsLogging.Write(msg, args);
417 } 569 }
418 570
419} 571}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
new file mode 100755
index 0000000..d9b738b
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -0,0 +1,209 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OMV = OpenMetaverse;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34
35namespace OpenSim.Region.Physics.BulletSPlugin
36{
37// Class to wrap all objects.
38// The rest of BulletSim doesn't need to keep checking for avatars or prims
39// unless the difference is significant.
40public abstract class BSPhysObject : PhysicsActor
41{
42 protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
43 {
44 PhysicsScene = parentScene;
45 LocalID = localID;
46 PhysObjectName = name;
47 TypeName = typeName;
48
49 Linkset = new BSLinkset(PhysicsScene, this);
50
51 CollisionCollection = new CollisionEventUpdate();
52 SubscribedEventsMs = 0;
53 CollidingStep = 0;
54 CollidingGroundStep = 0;
55 }
56
57 public BSScene PhysicsScene { get; protected set; }
58 // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
59 public string PhysObjectName { get; protected set; }
60 public string TypeName { get; protected set; }
61
62 public BSLinkset Linkset { get; set; }
63
64 // Return the object mass without calculating it or having side effects
65 public abstract float MassRaw { get; }
66
67 // Reference to the physical body (btCollisionObject) of this object
68 public BulletBody BSBody;
69 // Reference to the physical shape (btCollisionShape) of this object
70 public BulletShape BSShape;
71
72 // Stop all physical motion.
73 public abstract void ZeroMotion();
74
75 // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
76 public virtual void StepVehicle(float timeStep) { }
77
78 // Update the physical location and motion of the object. Called with data from Bullet.
79 public abstract void UpdateProperties(EntityProperties entprop);
80
81 // Tell the object to clean up.
82 public abstract void Destroy();
83
84 #region Collisions
85
86 // Requested number of milliseconds between collision events. Zero means disabled.
87 protected int SubscribedEventsMs { get; set; }
88 // Given subscription, the time that a collision may be passed up
89 protected int NextCollisionOkTime { get; set; }
90 // The simulation step that last had a collision
91 protected long CollidingStep { get; set; }
92 // The simulation step that last had a collision with the ground
93 protected long CollidingGroundStep { get; set; }
94 // The collision flags we think are set in Bullet
95 protected CollisionFlags CurrentCollisionFlags { get; set; }
96
97 // The collisions that have been collected this tick
98 protected CollisionEventUpdate CollisionCollection;
99
100 // The simulation step is telling this object about a collision.
101 // Return 'true' if a collision was processed and should be sent up.
102 // Called at taint time from within the Step() function
103 public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
104 OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
105 {
106 bool ret = false;
107
108 // The following lines make IsColliding() and IsCollidingGround() work
109 CollidingStep = PhysicsScene.SimulationStep;
110 if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
111 {
112 CollidingGroundStep = PhysicsScene.SimulationStep;
113 }
114
115 // prims in the same linkset cannot collide with each other
116 if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
117 {
118 return ret;
119 }
120
121 // if someone has subscribed for collision events....
122 if (SubscribedEvents()) {
123 CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
124 // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
125 // LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
126
127 ret = true;
128 }
129 return ret;
130 }
131
132 // Routine to send the collected collisions into the simulator.
133 // Also handles removal of this from the collection of objects with collisions if
134 // there are no collisions from this object. Mechanism is create one last
135 // collision event to make collision_end work.
136 // Called at taint time from within the Step() function thus no locking problems
137 // with CollisionCollection and ObjectsWithNoMoreCollisions.
138 // Return 'true' if there were some actual collisions passed up
139 public virtual bool SendCollisions()
140 {
141 bool ret = true;
142
143 // throttle the collisions to the number of milliseconds specified in the subscription
144 int nowTime = PhysicsScene.SimulationNowTime;
145 if (nowTime >= NextCollisionOkTime)
146 {
147 NextCollisionOkTime = nowTime + SubscribedEventsMs;
148
149 // We are called if we previously had collisions. If there are no collisions
150 // this time, send up one last empty event so OpenSim can sense collision end.
151 if (CollisionCollection.Count == 0)
152 {
153 // If I have no collisions this time, remove me from the list of objects with collisions.
154 ret = false;
155 }
156
157 // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
158 base.SendCollisionUpdate(CollisionCollection);
159
160 // The collisionCollection structure is passed around in the simulator.
161 // Make sure we don't have a handle to that one and that a new one is used for next time.
162 CollisionCollection = new CollisionEventUpdate();
163 }
164 return ret;
165 }
166
167 // Subscribe for collision events.
168 // Parameter is the millisecond rate the caller wishes collision events to occur.
169 public override void SubscribeEvents(int ms) {
170 // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
171 SubscribedEventsMs = ms;
172 if (ms > 0)
173 {
174 // make sure first collision happens
175 NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
176
177 PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
178 {
179 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
180 });
181 }
182 else
183 {
184 // Subscribing for zero or less is the same as unsubscribing
185 UnSubscribeEvents();
186 }
187 }
188 public override void UnSubscribeEvents() {
189 // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
190 SubscribedEventsMs = 0;
191 PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
192 {
193 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
194 });
195 }
196 // Return 'true' if the simulator wants collision events
197 public override bool SubscribedEvents() {
198 return (SubscribedEventsMs > 0);
199 }
200
201 #endregion // Collisions
202
203 // High performance detailed logging routine used by the physical objects.
204 protected void DetailLog(string msg, params Object[] args)
205 {
206 PhysicsScene.PhysicsLogging.Write(msg, args);
207 }
208}
209}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
index 0f027b8..20f5180 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
@@ -33,7 +33,7 @@ using OpenMetaverse;
33namespace OpenSim.Region.Physics.BulletSPlugin 33namespace OpenSim.Region.Physics.BulletSPlugin
34{ 34{
35 /// <summary> 35 /// <summary>
36 /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim. 36 /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim.
37 /// This module interfaces to an unmanaged C++ library which makes the 37 /// This module interfaces to an unmanaged C++ library which makes the
38 /// actual calls into the Bullet physics engine. 38 /// actual calls into the Bullet physics engine.
39 /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/. 39 /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/.
@@ -62,7 +62,7 @@ public class BSPlugin : IPhysicsPlugin
62 if (Util.IsWindows()) 62 if (Util.IsWindows())
63 Util.LoadArchSpecificWindowsDll("BulletSim.dll"); 63 Util.LoadArchSpecificWindowsDll("BulletSim.dll");
64 // If not Windows, loading is performed by the 64 // If not Windows, loading is performed by the
65 // Mono loader as specified in 65 // Mono loader as specified in
66 // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config". 66 // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
67 67
68 _mScene = new BSScene(sceneIdentifier); 68 _mScene = new BSScene(sceneIdentifier);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 9c20004..a0e627e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -24,6 +24,9 @@
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27
28// Uncomment this it enable code to do all shape an body memory management
29// in the C# code.
27using System; 30using System;
28using System.Reflection; 31using System.Reflection;
29using System.Collections.Generic; 32using System.Collections.Generic;
@@ -36,14 +39,13 @@ using OpenSim.Region.Physics.ConvexDecompositionDotNet;
36 39
37namespace OpenSim.Region.Physics.BulletSPlugin 40namespace OpenSim.Region.Physics.BulletSPlugin
38{ 41{
42
39 [Serializable] 43 [Serializable]
40public sealed class BSPrim : PhysicsActor 44public sealed class BSPrim : BSPhysObject
41{ 45{
42 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 46 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
43 private static readonly string LogHeader = "[BULLETS PRIM]"; 47 private static readonly string LogHeader = "[BULLETS PRIM]";
44 48
45 private void DebugLog(string mm, params Object[] xx) { if (_scene.ShouldDebugLog) m_log.DebugFormat(mm, xx); }
46
47 private IMesh _mesh; 49 private IMesh _mesh;
48 private PrimitiveBaseShape _pbs; 50 private PrimitiveBaseShape _pbs;
49 private ShapeData.PhysicsShapeType _shapeType; 51 private ShapeData.PhysicsShapeType _shapeType;
@@ -51,11 +53,6 @@ public sealed class BSPrim : PhysicsActor
51 private ulong _hullKey; 53 private ulong _hullKey;
52 private List<ConvexResult> _hulls; 54 private List<ConvexResult> _hulls;
53 55
54 private BSScene _scene;
55 public BSScene Scene { get { return _scene; } }
56 private String _avName;
57 private uint _localID = 0;
58
59 // _size is what the user passed. _scale is what we pass to the physics engine with the mesh. 56 // _size is what the user passed. _scale is what we pass to the physics engine with the mesh.
60 // Often _scale is unity because the meshmerizer will apply _size when creating the mesh. 57 // Often _scale is unity because the meshmerizer will apply _size when creating the mesh.
61 private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user 58 private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user
@@ -89,25 +86,6 @@ public sealed class BSPrim : PhysicsActor
89 private bool _kinematic; 86 private bool _kinematic;
90 private float _buoyancy; 87 private float _buoyancy;
91 88
92 // Membership in a linkset is controlled by this class.
93 private BSLinkset _linkset;
94 public BSLinkset Linkset
95 {
96 get { return _linkset; }
97 set { _linkset = value; }
98 }
99
100 private int _subscribedEventsMs = 0;
101 private int _nextCollisionOkTime = 0;
102 long _collidingStep;
103 long _collidingGroundStep;
104
105 private BulletBody m_body;
106 public BulletBody Body {
107 get { return m_body; }
108 set { m_body = value; }
109 }
110
111 private BSDynamics _vehicle; 89 private BSDynamics _vehicle;
112 90
113 private OMV.Vector3 _PIDTarget; 91 private OMV.Vector3 _PIDTarget;
@@ -122,9 +100,8 @@ public sealed class BSPrim : PhysicsActor
122 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) 100 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
123 { 101 {
124 // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); 102 // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
125 _localID = localID; 103 base.BaseInitialize(parent_scene, localID, primName, "BSPrim");
126 _avName = primName; 104 _physicsActorType = (int)ActorTypes.Prim;
127 _scene = parent_scene;
128 _position = pos; 105 _position = pos;
129 _size = size; 106 _size = size;
130 _scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type 107 _scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type
@@ -137,93 +114,99 @@ public sealed class BSPrim : PhysicsActor
137 _pbs = pbs; 114 _pbs = pbs;
138 _isPhysical = pisPhysical; 115 _isPhysical = pisPhysical;
139 _isVolumeDetect = false; 116 _isVolumeDetect = false;
140 _subscribedEventsMs = 0; 117 _friction = PhysicsScene.Params.defaultFriction; // TODO: compute based on object material
141 _friction = _scene.Params.defaultFriction; // TODO: compute based on object material 118 _density = PhysicsScene.Params.defaultDensity; // TODO: compute based on object material
142 _density = _scene.Params.defaultDensity; // TODO: compute based on object material 119 _restitution = PhysicsScene.Params.defaultRestitution;
143 _restitution = _scene.Params.defaultRestitution; 120 _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness
144 _linkset = new BSLinkset(_scene, this); // a linkset of one
145 _vehicle = new BSDynamics(this); // add vehicleness
146 _mass = CalculateMass(); 121 _mass = CalculateMass();
147 // do the actual object creation at taint time 122
123 // No body or shape yet
124 BSBody = new BulletBody(LocalID, IntPtr.Zero);
125 BSShape = new BulletShape(IntPtr.Zero);
126
148 DetailLog("{0},BSPrim.constructor,call", LocalID); 127 DetailLog("{0},BSPrim.constructor,call", LocalID);
149 _scene.TaintedObject("BSPrim.create", delegate() 128 // do the actual object creation at taint time
129 PhysicsScene.TaintedObject("BSPrim.create", delegate()
150 { 130 {
151 RecreateGeomAndObject(); 131 CreateGeomAndObject(true);
152 132
153 // Get the pointer to the physical body for this object. 133 CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.ptr);
154 // At the moment, we're still letting BulletSim manage the creation and destruction
155 // of the object. Someday we'll move that into the C# code.
156 m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
157 }); 134 });
158 } 135 }
159 136
160 // called when this prim is being destroyed and we should free all the resources 137 // called when this prim is being destroyed and we should free all the resources
161 public void Destroy() 138 public override void Destroy()
162 { 139 {
163 // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); 140 // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
164 141
165 // Undo any links between me and any other object 142 // Undo any links between me and any other object
166 BSPrim parentBefore = _linkset.LinksetRoot; 143 BSPhysObject parentBefore = Linkset.LinksetRoot;
167 int childrenBefore = _linkset.NumberOfChildren; 144 int childrenBefore = Linkset.NumberOfChildren;
168 145
169 _linkset = _linkset.RemoveMeFromLinkset(this); 146 Linkset = Linkset.RemoveMeFromLinkset(this);
170 147
171 DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", 148 DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
172 LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); 149 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
173 150
174 // Undo any vehicle properties 151 // Undo any vehicle properties
175 this.VehicleType = (int)Vehicle.TYPE_NONE; 152 this.VehicleType = (int)Vehicle.TYPE_NONE;
176 153
177 _scene.TaintedObject("BSPrim.destroy", delegate() 154 PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
178 { 155 {
179 DetailLog("{0},BSPrim.Destroy,taint,", LocalID); 156 DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
180 // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. 157 // If there are physical body and shape, release my use of same.
181 BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); 158 PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
159 PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
182 }); 160 });
183 } 161 }
184 162
185 public override bool Stopped { 163 public override bool Stopped {
186 get { return _stopped; } 164 get { return _stopped; }
187 } 165 }
188 public override OMV.Vector3 Size { 166 public override OMV.Vector3 Size {
189 get { return _size; } 167 get { return _size; }
190 set { 168 set {
191 _size = value; 169 _size = value;
192 _scene.TaintedObject("BSPrim.setSize", delegate() 170 PhysicsScene.TaintedObject("BSPrim.setSize", delegate()
193 { 171 {
194 _mass = CalculateMass(); // changing size changes the mass 172 _mass = CalculateMass(); // changing size changes the mass
195 BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); 173 // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
196 // DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); 174 // scale and margins are set.
197 RecreateGeomAndObject(); 175 CreateGeomAndObject(true);
176 // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
198 }); 177 });
199 } 178 }
179 }
180 // Scale is what we set in the physics engine. It is different than 'size' in that
181 // 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
182 public OMV.Vector3 Scale
183 {
184 get { return _scale; }
185 set { _scale = value; }
200 } 186 }
201 public override PrimitiveBaseShape Shape { 187 public override PrimitiveBaseShape Shape {
202 set { 188 set {
203 _pbs = value; 189 _pbs = value;
204 _scene.TaintedObject("BSPrim.setShape", delegate() 190 PhysicsScene.TaintedObject("BSPrim.setShape", delegate()
205 { 191 {
206 _mass = CalculateMass(); // changing the shape changes the mass 192 _mass = CalculateMass(); // changing the shape changes the mass
207 RecreateGeomAndObject(); 193 CreateGeomAndObject(true);
208 }); 194 });
209 } 195 }
210 }
211 public override uint LocalID {
212 set { _localID = value; }
213 get { return _localID; }
214 } 196 }
215 public override bool Grabbed { 197 public override bool Grabbed {
216 set { _grabbed = value; 198 set { _grabbed = value;
217 } 199 }
218 } 200 }
219 public override bool Selected { 201 public override bool Selected {
220 set { 202 set {
221 _isSelected = value; 203 _isSelected = value;
222 _scene.TaintedObject("BSPrim.setSelected", delegate() 204 PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
223 { 205 {
224 SetObjectDynamic(); 206 // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
207 SetObjectDynamic(false);
225 }); 208 });
226 } 209 }
227 } 210 }
228 public override void CrossingFailure() { return; } 211 public override void CrossingFailure() { return; }
229 212
@@ -232,158 +215,152 @@ public sealed class BSPrim : PhysicsActor
232 BSPrim parent = obj as BSPrim; 215 BSPrim parent = obj as BSPrim;
233 if (parent != null) 216 if (parent != null)
234 { 217 {
235 DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID); 218 BSPhysObject parentBefore = Linkset.LinksetRoot;
236 BSPrim parentBefore = _linkset.LinksetRoot; 219 int childrenBefore = Linkset.NumberOfChildren;
237 int childrenBefore = _linkset.NumberOfChildren;
238 220
239 _linkset = parent.Linkset.AddMeToLinkset(this); 221 Linkset = parent.Linkset.AddMeToLinkset(this);
240 222
241 DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", 223 DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
242 LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); 224 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
243 } 225 }
244 return; 226 return;
245 } 227 }
246 228
247 // delink me from my linkset 229 // delink me from my linkset
248 public override void delink() { 230 public override void delink() {
249 // TODO: decide if this parent checking needs to happen at taint time 231 // TODO: decide if this parent checking needs to happen at taint time
250 // Race condition here: if link() and delink() in same simulation tick, the delink will not happen 232 // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
251 DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID,
252 _linkset.LinksetRoot._avName+"/"+_linkset.LinksetRoot.LocalID.ToString());
253 233
254 BSPrim parentBefore = _linkset.LinksetRoot; 234 BSPhysObject parentBefore = Linkset.LinksetRoot;
255 int childrenBefore = _linkset.NumberOfChildren; 235 int childrenBefore = Linkset.NumberOfChildren;
256 236
257 _linkset = _linkset.RemoveMeFromLinkset(this); 237 Linkset = Linkset.RemoveMeFromLinkset(this);
258 238
259 DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", 239 DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
260 LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); 240 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
261 return; 241 return;
262 } 242 }
263 243
264 // Set motion values to zero. 244 // Set motion values to zero.
265 // Do it to the properties so the values get set in the physics engine. 245 // Do it to the properties so the values get set in the physics engine.
266 // Push the setting of the values to the viewer. 246 // Push the setting of the values to the viewer.
267 // Called at taint time! 247 // Called at taint time!
268 public void ZeroMotion() 248 public override void ZeroMotion()
269 { 249 {
270 _velocity = OMV.Vector3.Zero; 250 _velocity = OMV.Vector3.Zero;
271 _acceleration = OMV.Vector3.Zero; 251 _acceleration = OMV.Vector3.Zero;
272 _rotationalVelocity = OMV.Vector3.Zero; 252 _rotationalVelocity = OMV.Vector3.Zero;
273 253
274 // Zero some other properties directly into the physics engine 254 // Zero some other properties directly into the physics engine
275 BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero); 255 BulletSimAPI.ClearForces2(BSBody.ptr);
276 BulletSimAPI.SetAngularVelocity2(Body.Ptr, OMV.Vector3.Zero);
277 BulletSimAPI.SetInterpolation2(Body.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
278 BulletSimAPI.ClearForces2(Body.Ptr);
279 } 256 }
280 257
281 public override void LockAngularMotion(OMV.Vector3 axis) 258 public override void LockAngularMotion(OMV.Vector3 axis)
282 { 259 {
283 // DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); 260 DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
284 return; 261 return;
285 } 262 }
286 263
287 public override OMV.Vector3 Position { 264 public override OMV.Vector3 Position {
288 get { 265 get {
289 if (!_linkset.IsRoot(this)) 266 if (!Linkset.IsRoot(this))
290 // child prims move around based on their parent. Need to get the latest location 267 // child prims move around based on their parent. Need to get the latest location
291 _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 268 _position = BulletSimAPI.GetPosition2(BSBody.ptr);
292 269
293 // don't do the GetObjectPosition for root elements because this function is called a zillion times 270 // don't do the GetObjectPosition for root elements because this function is called a zillion times
294 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 271 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
295 return _position; 272 return _position;
296 } 273 }
297 set { 274 set {
298 _position = value; 275 _position = value;
299 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? 276 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
300 _scene.TaintedObject("BSPrim.setPosition", delegate() 277 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
301 { 278 {
302 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 279 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
303 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 280 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
304 }); 281 });
305 } 282 }
306 } 283 }
307 284
308 // Return the effective mass of the object. 285 // Return the effective mass of the object.
309 // If there are multiple items in the linkset, add them together for the root 286 // If there are multiple items in the linkset, add them together for the root
310 public override float Mass 287 public override float Mass
311 { 288 {
312 get 289 get
313 { 290 {
314 return _linkset.LinksetMass; 291 // return Linkset.LinksetMass;
292 return _mass;
315 } 293 }
316 } 294 }
317 295
318 // used when we only want this prim's mass and not the linkset thing 296 // used when we only want this prim's mass and not the linkset thing
319 public float MassRaw { get { return _mass; } } 297 public override float MassRaw { get { return _mass; } }
320 298
321 // Is this used? 299 // Is this used?
322 public override OMV.Vector3 CenterOfMass 300 public override OMV.Vector3 CenterOfMass
323 { 301 {
324 get { return _linkset.CenterOfMass; } 302 get { return Linkset.CenterOfMass; }
325 } 303 }
326 304
327 // Is this used? 305 // Is this used?
328 public override OMV.Vector3 GeometricCenter 306 public override OMV.Vector3 GeometricCenter
329 { 307 {
330 get { return _linkset.GeometricCenter; } 308 get { return Linkset.GeometricCenter; }
331 } 309 }
332 310
333 public override OMV.Vector3 Force { 311 public override OMV.Vector3 Force {
334 get { return _force; } 312 get { return _force; }
335 set { 313 set {
336 _force = value; 314 _force = value;
337 _scene.TaintedObject("BSPrim.setForce", delegate() 315 PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
338 { 316 {
339 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); 317 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
340 // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 318 BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
341 BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
342 }); 319 });
343 } 320 }
344 } 321 }
345 322
346 public override int VehicleType { 323 public override int VehicleType {
347 get { 324 get {
348 return (int)_vehicle.Type; // if we are a vehicle, return that type 325 return (int)_vehicle.Type; // if we are a vehicle, return that type
349 } 326 }
350 set { 327 set {
351 Vehicle type = (Vehicle)value; 328 Vehicle type = (Vehicle)value;
352 BSPrim vehiclePrim = this; 329 BSPrim vehiclePrim = this;
353 _scene.TaintedObject("setVehicleType", delegate() 330 PhysicsScene.TaintedObject("setVehicleType", delegate()
354 { 331 {
355 // Done at taint time so we're sure the physics engine is not using the variables 332 // Done at taint time so we're sure the physics engine is not using the variables
356 // Vehicle code changes the parameters for this vehicle type. 333 // Vehicle code changes the parameters for this vehicle type.
357 _vehicle.ProcessTypeChange(type); 334 _vehicle.ProcessTypeChange(type);
358 // Tell the scene about the vehicle so it will get processing each frame. 335 // Tell the scene about the vehicle so it will get processing each frame.
359 _scene.VehicleInSceneTypeChanged(this, type); 336 PhysicsScene.VehicleInSceneTypeChanged(this, type);
360 }); 337 });
361 } 338 }
362 } 339 }
363 public override void VehicleFloatParam(int param, float value) 340 public override void VehicleFloatParam(int param, float value)
364 { 341 {
365 _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate() 342 PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
366 { 343 {
367 _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); 344 _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
368 }); 345 });
369 } 346 }
370 public override void VehicleVectorParam(int param, OMV.Vector3 value) 347 public override void VehicleVectorParam(int param, OMV.Vector3 value)
371 { 348 {
372 _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate() 349 PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
373 { 350 {
374 _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); 351 _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
375 }); 352 });
376 } 353 }
377 public override void VehicleRotationParam(int param, OMV.Quaternion rotation) 354 public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
378 { 355 {
379 _scene.TaintedObject("BSPrim.VehicleRotationParam", delegate() 356 PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
380 { 357 {
381 _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); 358 _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
382 }); 359 });
383 } 360 }
384 public override void VehicleFlags(int param, bool remove) 361 public override void VehicleFlags(int param, bool remove)
385 { 362 {
386 _scene.TaintedObject("BSPrim.VehicleFlags", delegate() 363 PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
387 { 364 {
388 _vehicle.ProcessVehicleFlags(param, remove); 365 _vehicle.ProcessVehicleFlags(param, remove);
389 }); 366 });
@@ -391,7 +368,7 @@ public sealed class BSPrim : PhysicsActor
391 368
392 // Called each simulation step to advance vehicle characteristics. 369 // Called each simulation step to advance vehicle characteristics.
393 // Called from Scene when doing simulation step so we're in taint processing time. 370 // Called from Scene when doing simulation step so we're in taint processing time.
394 public void StepVehicle(float timeStep) 371 public override void StepVehicle(float timeStep)
395 { 372 {
396 if (IsPhysical) 373 if (IsPhysical)
397 _vehicle.Step(timeStep); 374 _vehicle.Step(timeStep);
@@ -400,74 +377,81 @@ public sealed class BSPrim : PhysicsActor
400 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more 377 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
401 public override void SetVolumeDetect(int param) { 378 public override void SetVolumeDetect(int param) {
402 bool newValue = (param != 0); 379 bool newValue = (param != 0);
403 _isVolumeDetect = newValue; 380 if (_isVolumeDetect != newValue)
404 _scene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
405 { 381 {
406 SetObjectDynamic(); 382 _isVolumeDetect = newValue;
407 }); 383 PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
408 return; 384 {
385 // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
386 SetObjectDynamic(true);
387 });
388 }
389 return;
409 } 390 }
410 391
411 public override OMV.Vector3 Velocity { 392 public override OMV.Vector3 Velocity {
412 get { return _velocity; } 393 get { return _velocity; }
413 set { 394 set {
414 _velocity = value; 395 _velocity = value;
415 _scene.TaintedObject("BSPrim.setVelocity", delegate() 396 PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
416 { 397 {
417 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); 398 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
418 BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); 399 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
419 }); 400 });
420 } 401 }
421 } 402 }
422 public override OMV.Vector3 Torque { 403 public override OMV.Vector3 Torque {
423 get { return _torque; } 404 get { return _torque; }
424 set { _torque = value; 405 set { _torque = value;
425 // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); 406 // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
426 } 407 }
427 } 408 }
428 public override float CollisionScore { 409 public override float CollisionScore {
429 get { return _collisionScore; } 410 get { return _collisionScore; }
430 set { _collisionScore = value; 411 set { _collisionScore = value;
431 } 412 }
432 } 413 }
433 public override OMV.Vector3 Acceleration { 414 public override OMV.Vector3 Acceleration {
434 get { return _acceleration; } 415 get { return _acceleration; }
435 set { _acceleration = value; } 416 set { _acceleration = value; }
436 } 417 }
437 public override OMV.Quaternion Orientation { 418 public override OMV.Quaternion Orientation {
438 get { 419 get {
439 if (!_linkset.IsRoot(this)) 420 if (!Linkset.IsRoot(this))
440 { 421 {
441 // Children move around because tied to parent. Get a fresh value. 422 // Children move around because tied to parent. Get a fresh value.
442 _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID); 423 _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
443 } 424 }
444 return _orientation; 425 return _orientation;
445 } 426 }
446 set { 427 set {
447 _orientation = value; 428 _orientation = value;
448 // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? 429 // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
449 _scene.TaintedObject("BSPrim.setOrientation", delegate() 430 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
450 { 431 {
451 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 432 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
452 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); 433 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
453 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 434 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
454 }); 435 });
455 } 436 }
456 } 437 }
457 public override int PhysicsActorType { 438 public override int PhysicsActorType {
458 get { return _physicsActorType; } 439 get { return _physicsActorType; }
459 set { _physicsActorType = value; 440 set { _physicsActorType = value; }
460 }
461 } 441 }
462 public override bool IsPhysical { 442 public override bool IsPhysical {
463 get { return _isPhysical; } 443 get { return _isPhysical; }
464 set { 444 set {
465 _isPhysical = value; 445 if (_isPhysical != value)
466 _scene.TaintedObject("BSPrim.setIsPhysical", delegate()
467 { 446 {
468 SetObjectDynamic(); 447 _isPhysical = value;
469 }); 448 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
470 } 449 {
450 // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
451 SetObjectDynamic(true);
452 });
453 }
454 }
471 } 455 }
472 456
473 // An object is static (does not move) if selected or not physical 457 // An object is static (does not move) if selected or not physical
@@ -477,57 +461,198 @@ public sealed class BSPrim : PhysicsActor
477 } 461 }
478 462
479 // An object is solid if it's not phantom and if it's not doing VolumeDetect 463 // An object is solid if it's not phantom and if it's not doing VolumeDetect
480 private bool IsSolid 464 public bool IsSolid
481 { 465 {
482 get { return !IsPhantom && !_isVolumeDetect; } 466 get { return !IsPhantom && !_isVolumeDetect; }
483 } 467 }
484 468
485 // Make gravity work if the object is physical and not selected 469 // Make gravity work if the object is physical and not selected
486 // No locking here because only called when it is safe 470 // Called at taint-time!!
487 private void SetObjectDynamic() 471 private void SetObjectDynamic(bool forceRebuild)
488 { 472 {
489 // RA: remove this for the moment. 473 // Recreate the physical object if necessary
490 // The problem is that dynamic objects are hulls so if we are becoming physical 474 CreateGeomAndObject(forceRebuild);
491 // the shape has to be checked and possibly built. 475 }
492 // Maybe a VerifyCorrectPhysicalShape() routine? 476
493 // RecreateGeomAndObject(); 477 // Convert the simulator's physical properties into settings on BulletSim objects.
478 // There are four flags we're interested in:
479 // IsStatic: Object does not move, otherwise the object has mass and moves
480 // isSolid: other objects bounce off of this object
481 // isVolumeDetect: other objects pass through but can generate collisions
482 // collisionEvents: whether this object returns collision events
483 private void UpdatePhysicalParameters()
484 {
485 // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
486
487 // Mangling all the physical properties requires the object not be in the physical world.
488 // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
489 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
490
491
492 // Set up the object physicalness (does gravity and collisions move this object)
493 MakeDynamic(IsStatic);
494
495 // Do any vehicle stuff
496 _vehicle.Refresh();
494 497
495 // Bullet wants static objects to have a mass of zero 498 // Arrange for collision events if the simulator wants them
496 float mass = IsStatic ? 0f : _mass; 499 EnableCollisions(SubscribedEvents());
497 500
498 BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); 501 // Make solid or not (do things bounce off or pass through this object).
502 MakeSolid(IsSolid);
499 503
500 // recompute any linkset parameters 504 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
501 _linkset.Refresh(this);
502 505
503 CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); 506 // Rebuild its shape
504 // DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); 507 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
508
509 // Collision filter can be set only when the object is in the world
510 if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
511 {
512 BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
513 }
514
515 // Recompute any linkset parameters.
516 // When going from non-physical to physical, this re-enables the constraints that
517 // had been automatically disabled when the mass was set to zero.
518 Linkset.Refresh(this);
519
520 DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
521 LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
522 }
523
524 // "Making dynamic" means changing to and from static.
525 // When static, gravity does not effect the object and it is fixed in space.
526 // When dynamic, the object can fall and be pushed by others.
527 // This is independent of its 'solidness' which controls what passes through
528 // this object and what interacts with it.
529 private void MakeDynamic(bool makeStatic)
530 {
531 if (makeStatic)
532 {
533 // Become a Bullet 'static' object type
534 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
535 // Stop all movement
536 BulletSimAPI.ClearAllForces2(BSBody.ptr);
537 // Center of mass is at the center of the object
538 BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
539 // Mass is zero which disables a bunch of physics stuff in Bullet
540 BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
541 // There is no inertia in a static object
542 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
543 // There can be special things needed for implementing linksets
544 Linkset.MakeStatic(this);
545 // The activation state is 'disabled' so Bullet will not try to act on it
546 BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
547
548 BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
549 BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
550 }
551 else
552 {
553 // Not a Bullet static object
554 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
555
556 // Set various physical properties so internal dynamic properties will get computed correctly as they are set
557 BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction);
558 BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
559
560 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
561 BulletSimAPI.ClearAllForces2(BSBody.ptr);
562
563 // A dynamic object has mass
564 IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
565 OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
566 // OMV.Vector3 inertia = OMV.Vector3.Zero;
567 BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
568 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
569
570 // Various values for simulation limits
571 BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
572 BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
573 BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
574 BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
575
576 // There can be special things needed for implementing linksets.
577 Linkset.MakeDynamic(this);
578
579 // Force activation of the object so Bullet will act on it.
580 // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
581 BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
582 BulletSimAPI.Activate2(BSBody.ptr, true);
583
584 BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
585 BSBody.collisionMask = CollisionFilterGroups.ObjectMask;
586 }
587 }
588
589 // "Making solid" means that other object will not pass through this object.
590 // To make transparent, we create a Bullet ghost object.
591 // Note: This expects to be called from the UpdatePhysicalParameters() routine as
592 // the functions after this one set up the state of a possibly newly created collision body.
593 private void MakeSolid(bool makeSolid)
594 {
595 CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
596 if (makeSolid)
597 {
598 // Verify the previous code created the correct shape for this type of thing.
599 if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
600 {
601 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
602 }
603 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
604 }
605 else
606 {
607 if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
608 {
609 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
610 }
611 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
612 BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
613 BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
614 }
615 }
616
617 // Turn on or off the flag controlling whether collision events are returned to the simulator.
618 private void EnableCollisions(bool wantsCollisionEvents)
619 {
620 if (wantsCollisionEvents)
621 {
622 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
623 }
624 else
625 {
626 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
627 }
505 } 628 }
506 629
507 // prims don't fly 630 // prims don't fly
508 public override bool Flying { 631 public override bool Flying {
509 get { return _flying; } 632 get { return _flying; }
510 set { _flying = value; } 633 set {
634 _flying = value;
635 }
511 } 636 }
512 public override bool SetAlwaysRun { 637 public override bool SetAlwaysRun {
513 get { return _setAlwaysRun; } 638 get { return _setAlwaysRun; }
514 set { _setAlwaysRun = value; } 639 set { _setAlwaysRun = value; }
515 } 640 }
516 public override bool ThrottleUpdates { 641 public override bool ThrottleUpdates {
517 get { return _throttleUpdates; } 642 get { return _throttleUpdates; }
518 set { _throttleUpdates = value; } 643 set { _throttleUpdates = value; }
519 } 644 }
520 public override bool IsColliding { 645 public override bool IsColliding {
521 get { return (_collidingStep == _scene.SimulationStep); } 646 get { return (CollidingStep == PhysicsScene.SimulationStep); }
522 set { _isColliding = value; } 647 set { _isColliding = value; }
523 } 648 }
524 public override bool CollidingGround { 649 public override bool CollidingGround {
525 get { return (_collidingGroundStep == _scene.SimulationStep); } 650 get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
526 set { _collidingGround = value; } 651 set { _collidingGround = value; }
527 } 652 }
528 public override bool CollidingObj { 653 public override bool CollidingObj {
529 get { return _collidingObj; } 654 get { return _collidingObj; }
530 set { _collidingObj = value; } 655 set { _collidingObj = value; }
531 } 656 }
532 public bool IsPhantom { 657 public bool IsPhantom {
533 get { 658 get {
@@ -537,10 +662,10 @@ public sealed class BSPrim : PhysicsActor
537 return false; 662 return false;
538 } 663 }
539 } 664 }
540 public override bool FloatOnWater { 665 public override bool FloatOnWater {
541 set { _floatOnWater = value; } 666 set { _floatOnWater = value; }
542 } 667 }
543 public override OMV.Vector3 RotationalVelocity { 668 public override OMV.Vector3 RotationalVelocity {
544 get { 669 get {
545 /* 670 /*
546 OMV.Vector3 pv = OMV.Vector3.Zero; 671 OMV.Vector3 pv = OMV.Vector3.Zero;
@@ -552,58 +677,60 @@ public sealed class BSPrim : PhysicsActor
552 */ 677 */
553 678
554 return _rotationalVelocity; 679 return _rotationalVelocity;
555 } 680 }
556 set { 681 set {
557 _rotationalVelocity = value; 682 _rotationalVelocity = value;
558 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); 683 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
559 _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate() 684 PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
560 { 685 {
561 // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); 686 // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
562 BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); 687 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
563 }); 688 });
564 } 689 }
565 } 690 }
566 public override bool Kinematic { 691 public override bool Kinematic {
567 get { return _kinematic; } 692 get { return _kinematic; }
568 set { _kinematic = value; 693 set { _kinematic = value;
569 // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic); 694 // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
570 } 695 }
571 } 696 }
572 public override float Buoyancy { 697 public override float Buoyancy {
573 get { return _buoyancy; } 698 get { return _buoyancy; }
574 set { 699 set {
575 _buoyancy = value; 700 _buoyancy = value;
576 _scene.TaintedObject("BSPrim.setBuoyancy", delegate() 701 PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
577 { 702 {
578 // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 703 // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
579 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); 704 // Buoyancy is faked by changing the gravity applied to the object
705 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
706 BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
580 }); 707 });
581 } 708 }
582 } 709 }
583 710
584 // Used for MoveTo 711 // Used for MoveTo
585 public override OMV.Vector3 PIDTarget { 712 public override OMV.Vector3 PIDTarget {
586 set { _PIDTarget = value; } 713 set { _PIDTarget = value; }
587 } 714 }
588 public override bool PIDActive { 715 public override bool PIDActive {
589 set { _usePID = value; } 716 set { _usePID = value; }
590 } 717 }
591 public override float PIDTau { 718 public override float PIDTau {
592 set { _PIDTau = value; } 719 set { _PIDTau = value; }
593 } 720 }
594 721
595 // Used for llSetHoverHeight and maybe vehicle height 722 // Used for llSetHoverHeight and maybe vehicle height
596 // Hover Height will override MoveTo target's Z 723 // Hover Height will override MoveTo target's Z
597 public override bool PIDHoverActive { 724 public override bool PIDHoverActive {
598 set { _useHoverPID = value; } 725 set { _useHoverPID = value; }
599 } 726 }
600 public override float PIDHoverHeight { 727 public override float PIDHoverHeight {
601 set { _PIDHoverHeight = value; } 728 set { _PIDHoverHeight = value; }
602 } 729 }
603 public override PIDHoverType PIDHoverType { 730 public override PIDHoverType PIDHoverType {
604 set { _PIDHoverType = value; } 731 set { _PIDHoverType = value; }
605 } 732 }
606 public override float PIDHoverTau { 733 public override float PIDHoverTau {
607 set { _PIDHoverTao = value; } 734 set { _PIDHoverTao = value; }
608 } 735 }
609 736
@@ -624,10 +751,10 @@ public sealed class BSPrim : PhysicsActor
624 } 751 }
625 else 752 else
626 { 753 {
627 m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); 754 m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
628 return; 755 return;
629 } 756 }
630 _scene.TaintedObject("BSPrim.AddForce", delegate() 757 PhysicsScene.TaintedObject("BSPrim.AddForce", delegate()
631 { 758 {
632 OMV.Vector3 fSum = OMV.Vector3.Zero; 759 OMV.Vector3 fSum = OMV.Vector3.Zero;
633 lock (m_accumulatedForces) 760 lock (m_accumulatedForces)
@@ -638,42 +765,19 @@ public sealed class BSPrim : PhysicsActor
638 } 765 }
639 m_accumulatedForces.Clear(); 766 m_accumulatedForces.Clear();
640 } 767 }
641 // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); 768 // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
642 BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); 769 // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
770 BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
643 }); 771 });
644 } 772 }
645 773
646 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 774 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
647 // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); 775 // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
648 // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); 776 // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
649 } 777 }
650 public override void SetMomentum(OMV.Vector3 momentum) { 778 public override void SetMomentum(OMV.Vector3 momentum) {
651 // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); 779 // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
652 } 780 }
653 public override void SubscribeEvents(int ms) {
654 _subscribedEventsMs = ms;
655 if (ms > 0)
656 {
657 // make sure first collision happens
658 _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
659
660 Scene.TaintedObject("BSPrim.SubscribeEvents", delegate()
661 {
662 BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
663 });
664 }
665 }
666 public override void UnSubscribeEvents() {
667 _subscribedEventsMs = 0;
668 Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate()
669 {
670 BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
671 });
672 }
673 public override bool SubscribedEvents() {
674 return (_subscribedEventsMs > 0);
675 }
676
677 #region Mass Calculation 781 #region Mass Calculation
678 782
679 private float CalculateMass() 783 private float CalculateMass()
@@ -683,8 +787,8 @@ public sealed class BSPrim : PhysicsActor
683 787
684 float returnMass = 0; 788 float returnMass = 0;
685 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; 789 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
686 float hollowVolume = hollowAmount * hollowAmount; 790 float hollowVolume = hollowAmount * hollowAmount;
687 791
688 switch (_pbs.ProfileShape) 792 switch (_pbs.ProfileShape)
689 { 793 {
690 case ProfileShape.Square: 794 case ProfileShape.Square:
@@ -720,16 +824,16 @@ public sealed class BSPrim : PhysicsActor
720 824
721 else if (_pbs.PathCurve == (byte)Extrusion.Curve1) 825 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
722 { 826 {
723 //a tube 827 //a tube
724 828
725 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); 829 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
726 tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); 830 tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY);
727 volume -= volume*tmp*tmp; 831 volume -= volume*tmp*tmp;
728 832
729 if (hollowAmount > 0.0) 833 if (hollowAmount > 0.0)
730 { 834 {
731 hollowVolume *= hollowAmount; 835 hollowVolume *= hollowAmount;
732 836
733 switch (_pbs.HollowShape) 837 switch (_pbs.HollowShape)
734 { 838 {
735 case HollowShape.Square: 839 case HollowShape.Square:
@@ -788,7 +892,7 @@ public sealed class BSPrim : PhysicsActor
788 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); 892 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
789 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); 893 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
790 volume *= (1.0f - tmp * tmp); 894 volume *= (1.0f - tmp * tmp);
791 895
792 if (hollowAmount > 0.0) 896 if (hollowAmount > 0.0)
793 { 897 {
794 898
@@ -967,272 +1071,17 @@ public sealed class BSPrim : PhysicsActor
967 if (returnMass <= 0) 1071 if (returnMass <= 0)
968 returnMass = 0.0001f; 1072 returnMass = 0.0001f;
969 1073
970 if (returnMass > _scene.MaximumObjectMass) 1074 if (returnMass > PhysicsScene.MaximumObjectMass)
971 returnMass = _scene.MaximumObjectMass; 1075 returnMass = PhysicsScene.MaximumObjectMass;
972 1076
973 return returnMass; 1077 return returnMass;
974 }// end CalculateMass 1078 }// end CalculateMass
975 #endregion Mass Calculation 1079 #endregion Mass Calculation
976 1080
977 // Create the geometry information in Bullet for later use
978 // The objects needs a hull if it's physical otherwise a mesh is enough
979 // No locking here because this is done when we know physics is not simulating
980 // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used
981 // Returns 'true' if the geometry was rebuilt
982 private bool CreateGeom(bool forceRebuild)
983 {
984 // the mesher thought this was too simple to mesh. Use a native Bullet collision shape.
985 bool ret = false;
986 if (!_scene.NeedsMeshing(_pbs))
987 {
988 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
989 {
990 // if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
991 // {
992 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
993 if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
994 {
995 // DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
996 _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
997 // Bullet native objects are scaled by the Bullet engine so pass the size in
998 _scale = _size;
999 // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
1000 ret = true;
1001 }
1002 // }
1003 }
1004 else
1005 {
1006 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
1007 if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
1008 {
1009 // DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
1010 _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
1011 _scale = _size;
1012 // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
1013 ret = true;
1014 }
1015 }
1016 }
1017 else
1018 {
1019 if (IsPhysical)
1020 {
1021 if (forceRebuild || _hullKey == 0)
1022 {
1023 // physical objects require a hull for interaction.
1024 // This will create the mesh if it doesn't already exist
1025 CreateGeomHull();
1026 ret = true;
1027 }
1028 }
1029 else
1030 {
1031 if (forceRebuild || _meshKey == 0)
1032 {
1033 // Static (non-physical) objects only need a mesh for bumping into
1034 CreateGeomMesh();
1035 ret = true;
1036 }
1037 }
1038 }
1039 return ret;
1040 }
1041
1042 // No locking here because this is done when we know physics is not simulating
1043 private void CreateGeomMesh()
1044 {
1045 float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
1046 ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod);
1047 // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey);
1048
1049 // if this new shape is the same as last time, don't recreate the mesh
1050 if (_meshKey == newMeshKey) return;
1051
1052 // DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
1053 // Since we're recreating new, get rid of any previously generated shape
1054 if (_meshKey != 0)
1055 {
1056 // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
1057 // DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
1058 BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
1059 _mesh = null;
1060 _meshKey = 0;
1061 }
1062
1063 _meshKey = newMeshKey;
1064 // always pass false for physicalness as this creates some sort of bounding box which we don't need
1065 _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, lod, false);
1066
1067 int[] indices = _mesh.getIndexListAsInt();
1068 List<OMV.Vector3> vertices = _mesh.getVertexList();
1069
1070 float[] verticesAsFloats = new float[vertices.Count * 3];
1071 int vi = 0;
1072 foreach (OMV.Vector3 vv in vertices)
1073 {
1074 verticesAsFloats[vi++] = vv.X;
1075 verticesAsFloats[vi++] = vv.Y;
1076 verticesAsFloats[vi++] = vv.Z;
1077 }
1078
1079 // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
1080 // LogHeader, _localID, _meshKey, indices.Length, vertices.Count);
1081 BulletSimAPI.CreateMesh(_scene.WorldID, _meshKey, indices.GetLength(0), indices,
1082 vertices.Count, verticesAsFloats);
1083
1084 _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
1085 // meshes are already scaled by the meshmerizer
1086 _scale = new OMV.Vector3(1f, 1f, 1f);
1087 // DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID);
1088 return;
1089 }
1090
1091 // No locking here because this is done when we know physics is not simulating
1092 private void CreateGeomHull()
1093 {
1094 float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
1095 ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
1096 // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey);
1097
1098 // if the hull hasn't changed, don't rebuild it
1099 if (newHullKey == _hullKey) return;
1100
1101 // DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
1102
1103 // Since we're recreating new, get rid of any previously generated shape
1104 if (_hullKey != 0)
1105 {
1106 // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
1107 // DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
1108 BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
1109 _hullKey = 0;
1110 }
1111
1112 _hullKey = newHullKey;
1113
1114 // Make sure the underlying mesh exists and is correct
1115 CreateGeomMesh();
1116
1117 int[] indices = _mesh.getIndexListAsInt();
1118 List<OMV.Vector3> vertices = _mesh.getVertexList();
1119
1120 //format conversion from IMesh format to DecompDesc format
1121 List<int> convIndices = new List<int>();
1122 List<float3> convVertices = new List<float3>();
1123 for (int ii = 0; ii < indices.GetLength(0); ii++)
1124 {
1125 convIndices.Add(indices[ii]);
1126 }
1127 foreach (OMV.Vector3 vv in vertices)
1128 {
1129 convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
1130 }
1131
1132 // setup and do convex hull conversion
1133 _hulls = new List<ConvexResult>();
1134 DecompDesc dcomp = new DecompDesc();
1135 dcomp.mIndices = convIndices;
1136 dcomp.mVertices = convVertices;
1137 ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
1138 // create the hull into the _hulls variable
1139 convexBuilder.process(dcomp);
1140
1141 // Convert the vertices and indices for passing to unmanaged.
1142 // The hull information is passed as a large floating point array.
1143 // The format is:
1144 // convHulls[0] = number of hulls
1145 // convHulls[1] = number of vertices in first hull
1146 // convHulls[2] = hull centroid X coordinate
1147 // convHulls[3] = hull centroid Y coordinate
1148 // convHulls[4] = hull centroid Z coordinate
1149 // convHulls[5] = first hull vertex X
1150 // convHulls[6] = first hull vertex Y
1151 // convHulls[7] = first hull vertex Z
1152 // convHulls[8] = second hull vertex X
1153 // ...
1154 // convHulls[n] = number of vertices in second hull
1155 // convHulls[n+1] = second hull centroid X coordinate
1156 // ...
1157 //
1158 // TODO: is is very inefficient. Someday change the convex hull generator to return
1159 // data structures that do not need to be converted in order to pass to Bullet.
1160 // And maybe put the values directly into pinned memory rather than marshaling.
1161 int hullCount = _hulls.Count;
1162 int totalVertices = 1; // include one for the count of the hulls
1163 foreach (ConvexResult cr in _hulls)
1164 {
1165 totalVertices += 4; // add four for the vertex count and centroid
1166 totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
1167 }
1168 float[] convHulls = new float[totalVertices];
1169
1170 convHulls[0] = (float)hullCount;
1171 int jj = 1;
1172 foreach (ConvexResult cr in _hulls)
1173 {
1174 // copy vertices for index access
1175 float3[] verts = new float3[cr.HullVertices.Count];
1176 int kk = 0;
1177 foreach (float3 ff in cr.HullVertices)
1178 {
1179 verts[kk++] = ff;
1180 }
1181
1182 // add to the array one hull's worth of data
1183 convHulls[jj++] = cr.HullIndices.Count;
1184 convHulls[jj++] = 0f; // centroid x,y,z
1185 convHulls[jj++] = 0f;
1186 convHulls[jj++] = 0f;
1187 foreach (int ind in cr.HullIndices)
1188 {
1189 convHulls[jj++] = verts[ind].x;
1190 convHulls[jj++] = verts[ind].y;
1191 convHulls[jj++] = verts[ind].z;
1192 }
1193 }
1194
1195 // create the hull definition in Bullet
1196 // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
1197 BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls);
1198 _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
1199 // meshes are already scaled by the meshmerizer
1200 _scale = new OMV.Vector3(1f, 1f, 1f);
1201 // DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
1202 return;
1203 }
1204
1205 // Callback from convex hull creater with a newly created hull.
1206 // Just add it to the collection of hulls for this shape.
1207 private void HullReturn(ConvexResult result)
1208 {
1209 _hulls.Add(result);
1210 return;
1211 }
1212
1213 // Create an object in Bullet if it has not already been created
1214 // No locking here because this is done when the physics engine is not simulating
1215 // Returns 'true' if an object was actually created.
1216 private bool CreateObject()
1217 {
1218 // this routine is called when objects are rebuilt.
1219
1220 // the mesh or hull must have already been created in Bullet
1221 ShapeData shape;
1222 FillShapeInfo(out shape);
1223 // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
1224 bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
1225
1226 // the CreateObject() may have recreated the rigid body. Make sure we have the latest.
1227 Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
1228
1229 return ret;
1230 }
1231
1232 // Copy prim's info into the BulletSim shape description structure 1081 // Copy prim's info into the BulletSim shape description structure
1233 public void FillShapeInfo(out ShapeData shape) 1082 public void FillShapeInfo(out ShapeData shape)
1234 { 1083 {
1235 shape.ID = _localID; 1084 shape.ID = LocalID;
1236 shape.Type = _shapeType; 1085 shape.Type = _shapeType;
1237 shape.Position = _position; 1086 shape.Position = _position;
1238 shape.Rotation = _orientation; 1087 shape.Rotation = _orientation;
@@ -1246,17 +1095,39 @@ public sealed class BSPrim : PhysicsActor
1246 shape.Restitution = _restitution; 1095 shape.Restitution = _restitution;
1247 shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; 1096 shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
1248 shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; 1097 shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
1098 shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
1099 shape.Size = _size;
1249 } 1100 }
1250
1251
1252 // Rebuild the geometry and object. 1101 // Rebuild the geometry and object.
1253 // This is called when the shape changes so we need to recreate the mesh/hull. 1102 // This is called when the shape changes so we need to recreate the mesh/hull.
1254 // No locking here because this is done when the physics engine is not simulating 1103 // Called at taint-time!!!
1255 private void RecreateGeomAndObject() 1104 private void CreateGeomAndObject(bool forceRebuild)
1256 { 1105 {
1257 // m_log.DebugFormat("{0}: RecreateGeomAndObject. lID={1}", LogHeader, _localID); 1106 ShapeData shapeData;
1258 if (CreateGeom(true)) 1107 FillShapeInfo(out shapeData);
1259 CreateObject(); 1108
1109 // If this prim is part of a linkset, we must remove and restore the physical
1110 // links of the body is rebuilt.
1111 bool needToRestoreLinkset = false;
1112
1113 // Create the correct physical representation for this type of object.
1114 // Updates BSBody and BSShape with the new information.
1115 PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs,
1116 null, delegate(BulletBody dBody)
1117 {
1118 // Called if the current prim body is about to be destroyed.
1119 // Remove all the physical dependencies on the old body.
1120 needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
1121 });
1122
1123 if (needToRestoreLinkset)
1124 {
1125 // If physical body dependencies were removed, restore them
1126 Linkset.RestoreBodyDependencies(this);
1127 }
1128
1129 // Make sure the properties are set on the new object
1130 UpdatePhysicalParameters();
1260 return; 1131 return;
1261 } 1132 }
1262 1133
@@ -1277,7 +1148,7 @@ public sealed class BSPrim : PhysicsActor
1277 const float ACCELERATION_TOLERANCE = 0.01f; 1148 const float ACCELERATION_TOLERANCE = 0.01f;
1278 const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; 1149 const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
1279 1150
1280 public void UpdateProperties(EntityProperties entprop) 1151 public override void UpdateProperties(EntityProperties entprop)
1281 { 1152 {
1282 /* 1153 /*
1283 UpdatedProperties changed = 0; 1154 UpdatedProperties changed = 0;
@@ -1325,7 +1196,7 @@ public sealed class BSPrim : PhysicsActor
1325 // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. 1196 // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
1326 1197
1327 // Updates only for individual prims and for the root object of a linkset. 1198 // Updates only for individual prims and for the root object of a linkset.
1328 if (_linkset.IsRoot(this)) 1199 if (Linkset.IsRoot(this))
1329 { 1200 {
1330 // Assign to the local variables so the normal set action does not happen 1201 // Assign to the local variables so the normal set action does not happen
1331 _position = entprop.Position; 1202 _position = entprop.Position;
@@ -1334,69 +1205,22 @@ public sealed class BSPrim : PhysicsActor
1334 _acceleration = entprop.Acceleration; 1205 _acceleration = entprop.Acceleration;
1335 _rotationalVelocity = entprop.RotationalVelocity; 1206 _rotationalVelocity = entprop.RotationalVelocity;
1336 1207
1337 // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", 1208 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
1338 // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); 1209 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
1339 // DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 1210
1340 // LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); 1211 // BulletSimAPI.DumpRigidBody2(Scene.World.Ptr, BSBody.Ptr);
1341 1212
1342 base.RequestPhysicsterseUpdate(); 1213 base.RequestPhysicsterseUpdate();
1343 } 1214 }
1344 /* 1215 /*
1345 else 1216 else
1346 { 1217 {
1347 // For debugging, we also report the movement of children 1218 // For debugging, we can also report the movement of children
1348 DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 1219 DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
1349 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 1220 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
1350 entprop.Acceleration, entprop.RotationalVelocity); 1221 entprop.Acceleration, entprop.RotationalVelocity);
1351 } 1222 }
1352 */ 1223 */
1353 } 1224 }
1354
1355 // I've collided with something
1356 CollisionEventUpdate collisionCollection;
1357 public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
1358 {
1359 // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
1360
1361 // The following lines make IsColliding() and IsCollidingGround() work
1362 _collidingStep = _scene.SimulationStep;
1363 if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
1364 {
1365 _collidingGroundStep = _scene.SimulationStep;
1366 }
1367
1368 // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith);
1369
1370 // if someone is subscribed to collision events....
1371 if (_subscribedEventsMs != 0) {
1372 // throttle the collisions to the number of milliseconds specified in the subscription
1373 int nowTime = _scene.SimulationNowTime;
1374 if (nowTime >= _nextCollisionOkTime) {
1375 _nextCollisionOkTime = nowTime + _subscribedEventsMs;
1376
1377 if (collisionCollection == null)
1378 collisionCollection = new CollisionEventUpdate();
1379 collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
1380 }
1381 }
1382 }
1383
1384 // The scene is telling us it's time to pass our collected collisions into the simulator
1385 public void SendCollisions()
1386 {
1387 if (collisionCollection != null && collisionCollection.Count > 0)
1388 {
1389 base.SendCollisionUpdate(collisionCollection);
1390 // The collisionCollection structure is passed around in the simulator.
1391 // Make sure we don't have a handle to that one and that a new one is used next time.
1392 collisionCollection = null;
1393 }
1394 }
1395
1396 // Invoke the detailed logger and output something if it's enabled.
1397 private void DetailLog(string msg, params Object[] args)
1398 {
1399 Scene.PhysicsLogging.Write(msg, args);
1400 }
1401} 1225}
1402} 1226}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index a31c578..0cf8c91 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -39,33 +39,28 @@ using log4net;
39using OpenMetaverse; 39using OpenMetaverse;
40 40
41// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) 41// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
42// Debug linkset 42// Move all logic out of the C++ code and into the C# code for easier future modifications.
43// Test with multiple regions in one simulator 43// Test sculpties (verified that they don't work)
44// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
45// Test sculpties
46// Compute physics FPS reasonably 44// Compute physics FPS reasonably
47// Based on material, set density and friction 45// Based on material, set density and friction
48// More efficient memory usage when passing hull information from BSPrim to BulletSim 46// Don't use constraints in linksets of non-physical objects. Means having to move children manually.
49// Move all logic out of the C++ code and into the C# code for easier future modifications.
50// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? 47// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
51// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) 48// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
52// At the moment, physical and phantom causes object to drop through the terrain 49// At the moment, physical and phantom causes object to drop through the terrain
53// Physical phantom objects and related typing (collision options ) 50// Physical phantom objects and related typing (collision options )
54// Use collision masks for collision with terrain and phantom objects
55// Check out llVolumeDetect. Must do something for that. 51// Check out llVolumeDetect. Must do something for that.
52// Use collision masks for collision with terrain and phantom objects
53// More efficient memory usage when passing hull information from BSPrim to BulletSim
56// Should prim.link() and prim.delink() membership checking happen at taint time? 54// Should prim.link() and prim.delink() membership checking happen at taint time?
57// changing the position and orientation of a linked prim must rebuild the constraint with the root. 55// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once.
58// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
59// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect 56// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
60// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
61// Implement LockAngularMotion 57// Implement LockAngularMotion
62// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) 58// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
63// Does NeedsMeshing() really need to exclude all the different shapes?
64// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. 59// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
65// Add PID movement operations. What does ScenePresence.MoveToTarget do? 60// Add PID movement operations. What does ScenePresence.MoveToTarget do?
66// Check terrain size. 128 or 127? 61// Check terrain size. 128 or 127?
67// Raycast 62// Raycast
68// 63//
69namespace OpenSim.Region.Physics.BulletSPlugin 64namespace OpenSim.Region.Physics.BulletSPlugin
70{ 65{
71public class BSScene : PhysicsScene, IPhysicsParameters 66public class BSScene : PhysicsScene, IPhysicsParameters
@@ -73,62 +68,59 @@ public class BSScene : PhysicsScene, IPhysicsParameters
73 private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); 68 private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
74 private static readonly string LogHeader = "[BULLETS SCENE]"; 69 private static readonly string LogHeader = "[BULLETS SCENE]";
75 70
76 public void DebugLog(string mm, params Object[] xx) { if (ShouldDebugLog) m_log.DebugFormat(mm, xx); } 71 // The name of the region we're working for.
72 public string RegionName { get; private set; }
77 73
78 public string BulletSimVersion = "?"; 74 public string BulletSimVersion = "?";
79 75
80 private Dictionary<uint, BSCharacter> m_avatars = new Dictionary<uint, BSCharacter>(); 76 public Dictionary<uint, BSPhysObject> PhysObjects;
81 private Dictionary<uint, BSPrim> m_prims = new Dictionary<uint, BSPrim>(); 77 public BSShapeCollection Shapes;
82 private HashSet<BSCharacter> m_avatarsWithCollisions = new HashSet<BSCharacter>(); 78
83 private HashSet<BSPrim> m_primsWithCollisions = new HashSet<BSPrim>(); 79 // Keeping track of the objects with collisions so we can report begin and end of a collision
84 private List<BSPrim> m_vehicles = new List<BSPrim>(); 80 public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
85 private float[] m_heightMap; 81 public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
86 private float m_waterLevel; 82 // Keep track of all the avatars so we can send them a collision event
87 private uint m_worldID; 83 // every tick so OpenSim will update its animation.
88 public uint WorldID { get { return m_worldID; } } 84 private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
85
86 // List of all the objects that have vehicle properties and should be called
87 // to update each physics step.
88 private List<BSPhysObject> m_vehicles = new List<BSPhysObject>();
89 89
90 // let my minuions use my logger 90 // let my minuions use my logger
91 public ILog Logger { get { return m_log; } } 91 public ILog Logger { get { return m_log; } }
92 92
93 private bool m_initialized = false; 93 // If non-zero, the number of simulation steps between calls to the physics
94 94 // engine to output detailed physics stats. Debug logging level must be on also.
95 private int m_detailedStatsStep = 0; 95 private int m_detailedStatsStep = 0;
96 96
97 public IMesher mesher; 97 public IMesher mesher;
98 private float m_meshLOD; 98 // Level of Detail values kept as float because that's what the Meshmerizer wants
99 public float MeshLOD 99 public float MeshLOD { get; private set; }
100 { 100 public float MeshMegaPrimLOD { get; private set; }
101 get { return m_meshLOD; } 101 public float MeshMegaPrimThreshold { get; private set; }
102 } 102 public float SculptLOD { get; private set; }
103 private float m_sculptLOD;
104 public float SculptLOD
105 {
106 get { return m_sculptLOD; }
107 }
108 103
109 private BulletSim m_worldSim; 104 public uint WorldID { get; private set; }
110 public BulletSim World 105 public BulletSim World { get; private set; }
111 {
112 get { return m_worldSim; }
113 }
114 private BSConstraintCollection m_constraintCollection;
115 public BSConstraintCollection Constraints
116 {
117 get { return m_constraintCollection; }
118 }
119 106
107 // All the constraints that have been allocated in this instance.
108 public BSConstraintCollection Constraints { get; private set; }
109
110 // Simulation parameters
120 private int m_maxSubSteps; 111 private int m_maxSubSteps;
121 private float m_fixedTimeStep; 112 private float m_fixedTimeStep;
122 private long m_simulationStep = 0; 113 private long m_simulationStep = 0;
123 public long SimulationStep { get { return m_simulationStep; } } 114 public long SimulationStep { get { return m_simulationStep; } }
124 115
125 public float LastSimulatedTimestep { get; private set; }
126
127 // A value of the time now so all the collision and update routines do not have to get their own 116 // A value of the time now so all the collision and update routines do not have to get their own
128 // Set to 'now' just before all the prims and actors are called for collisions and updates 117 // Set to 'now' just before all the prims and actors are called for collisions and updates
129 private int m_simulationNowTime; 118 public int SimulationNowTime { get; private set; }
130 public int SimulationNowTime { get { return m_simulationNowTime; } } 119
120 // True if initialized and ready to do simulation steps
121 private bool m_initialized = false;
131 122
123 // Pinned memory used to pass step information between managed and unmanaged
132 private int m_maxCollisionsPerFrame; 124 private int m_maxCollisionsPerFrame;
133 private CollisionDesc[] m_collisionArray; 125 private CollisionDesc[] m_collisionArray;
134 private GCHandle m_collisionArrayPinnedHandle; 126 private GCHandle m_collisionArrayPinnedHandle;
@@ -137,14 +129,18 @@ public class BSScene : PhysicsScene, IPhysicsParameters
137 private EntityProperties[] m_updateArray; 129 private EntityProperties[] m_updateArray;
138 private GCHandle m_updateArrayPinnedHandle; 130 private GCHandle m_updateArrayPinnedHandle;
139 131
140 private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed 132 public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
141 private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes 133 public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
142 134
143 public float PID_D { get; private set; } // derivative 135 public float PID_D { get; private set; } // derivative
144 public float PID_P { get; private set; } // proportional 136 public float PID_P { get; private set; } // proportional
145 137
146 public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero 138 public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
147 public const uint GROUNDPLANE_ID = 1; 139 public const uint GROUNDPLANE_ID = 1;
140 public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here
141
142 private float m_waterLevel;
143 public BSTerrainManager TerrainManager { get; private set; }
148 144
149 public ConfigurationParameters Params 145 public ConfigurationParameters Params
150 { 146 {
@@ -154,13 +150,18 @@ public class BSScene : PhysicsScene, IPhysicsParameters
154 { 150 {
155 get { return new Vector3(0f, 0f, Params.gravity); } 151 get { return new Vector3(0f, 0f, Params.gravity); }
156 } 152 }
157 153 // Just the Z value of the gravity
158 private float m_maximumObjectMass; 154 public float DefaultGravityZ
159 public float MaximumObjectMass
160 { 155 {
161 get { return m_maximumObjectMass; } 156 get { return Params.gravity; }
162 } 157 }
163 158
159 public float MaximumObjectMass { get; private set; }
160
161 // When functions in the unmanaged code must be called, it is only
162 // done at a known time just before the simulation step. The taint
163 // system saves all these function calls and executes them in
164 // order before the simulation.
164 public delegate void TaintCallback(); 165 public delegate void TaintCallback();
165 private struct TaintCallbackEntry 166 private struct TaintCallbackEntry
166 { 167 {
@@ -172,15 +173,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
172 callback = c; 173 callback = c;
173 } 174 }
174 } 175 }
176 private Object _taintLock = new Object(); // lock for using the next object
175 private List<TaintCallbackEntry> _taintedObjects; 177 private List<TaintCallbackEntry> _taintedObjects;
176 private Object _taintLock = new Object();
177 178
178 // A pointer to an instance if this structure is passed to the C++ code 179 // A pointer to an instance if this structure is passed to the C++ code
180 // Used to pass basic configuration values to the unmanaged code.
179 ConfigurationParameters[] m_params; 181 ConfigurationParameters[] m_params;
180 GCHandle m_paramsHandle; 182 GCHandle m_paramsHandle;
181 183
182 public bool ShouldDebugLog { get; private set; } 184 // Handle to the callback used by the unmanaged code to call into the managed code.
183 185 // Used for debug logging.
186 // Need to store the handle in a persistant variable so it won't be freed.
184 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; 187 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
185 188
186 // Sometimes you just have to log everything. 189 // Sometimes you just have to log everything.
@@ -189,17 +192,24 @@ public class BSScene : PhysicsScene, IPhysicsParameters
189 private string m_physicsLoggingDir; 192 private string m_physicsLoggingDir;
190 private string m_physicsLoggingPrefix; 193 private string m_physicsLoggingPrefix;
191 private int m_physicsLoggingFileMinutes; 194 private int m_physicsLoggingFileMinutes;
195 // 'true' of the vehicle code is to log lots of details
196 public bool VehicleLoggingEnabled { get; private set; }
192 197
193 private bool m_vehicleLoggingEnabled; 198 #region Construction and Initialization
194 public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } }
195
196 public BSScene(string identifier) 199 public BSScene(string identifier)
197 { 200 {
198 m_initialized = false; 201 m_initialized = false;
202 // we are passed the name of the region we're working for.
203 RegionName = identifier;
199 } 204 }
200 205
201 public override void Initialise(IMesher meshmerizer, IConfigSource config) 206 public override void Initialise(IMesher meshmerizer, IConfigSource config)
202 { 207 {
208 mesher = meshmerizer;
209 _taintedObjects = new List<TaintCallbackEntry>();
210 PhysObjects = new Dictionary<uint, BSPhysObject>();
211 Shapes = new BSShapeCollection(this);
212
203 // Allocate pinned memory to pass parameters. 213 // Allocate pinned memory to pass parameters.
204 m_params = new ConfigurationParameters[1]; 214 m_params = new ConfigurationParameters[1];
205 m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); 215 m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
@@ -215,7 +225,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
215 225
216 // Enable very detailed logging. 226 // Enable very detailed logging.
217 // By creating an empty logger when not logging, the log message invocation code 227 // By creating an empty logger when not logging, the log message invocation code
218 // can be left in and every call doesn't have to check for null. 228 // can be left in and every call doesn't have to check for null.
219 if (m_physicsLoggingEnabled) 229 if (m_physicsLoggingEnabled)
220 { 230 {
221 PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); 231 PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
@@ -225,38 +235,43 @@ public class BSScene : PhysicsScene, IPhysicsParameters
225 PhysicsLogging = new Logging.LogWriter(); 235 PhysicsLogging = new Logging.LogWriter();
226 } 236 }
227 237
228 // Get the version of the DLL 238 // If Debug logging level, enable logging from the unmanaged code
229 // TODO: this doesn't work yet. Something wrong with marshaling the returned string. 239 m_DebugLogCallbackHandle = null;
230 // BulletSimVersion = BulletSimAPI.GetVersion();
231 // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
232
233 // if Debug, enable logging from the unmanaged code
234 if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) 240 if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
235 { 241 {
236 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); 242 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
237 if (PhysicsLogging.Enabled) 243 if (PhysicsLogging.Enabled)
244 // The handle is saved in a variable to make sure it doesn't get freed after this call
238 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog); 245 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
239 else 246 else
240 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); 247 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
241 // the handle is saved in a variable to make sure it doesn't get freed after this call
242 BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
243 } 248 }
244 249
245 _taintedObjects = new List<TaintCallbackEntry>(); 250 // Get the version of the DLL
251 // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
252 // BulletSimVersion = BulletSimAPI.GetVersion();
253 // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
246 254
247 mesher = meshmerizer; 255 // The bounding box for the simulated world. The origin is 0,0,0 unless we're
248 // The bounding box for the simulated world 256 // a child in a mega-region.
249 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f); 257 // Turns out that Bullet really doesn't care about the extents of the simulated
258 // area. It tracks active objects no matter where they are.
259 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
250 260
251 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); 261 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
252 m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), 262 WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
253 m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), 263 m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
254 m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); 264 m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
265 m_DebugLogCallbackHandle);
255 266
256 // Initialization to support the transition to a new API which puts most of the logic 267 // Initialization to support the transition to a new API which puts most of the logic
257 // into the C# code so it is easier to modify and add to. 268 // into the C# code so it is easier to modify and add to.
258 m_worldSim = new BulletSim(m_worldID, this, BulletSimAPI.GetSimHandle2(m_worldID)); 269 World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID));
259 m_constraintCollection = new BSConstraintCollection(World); 270
271 Constraints = new BSConstraintCollection(World);
272
273 TerrainManager = new BSTerrainManager(this);
274 TerrainManager.CreateInitialGroundPlaneAndTerrain();
260 275
261 m_initialized = true; 276 m_initialized = true;
262 } 277 }
@@ -281,10 +296,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
281 // Very detailed logging for physics debugging 296 // Very detailed logging for physics debugging
282 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); 297 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
283 m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); 298 m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
284 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-"); 299 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
285 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); 300 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
286 // Very detailed logging for vehicle debugging 301 // Very detailed logging for vehicle debugging
287 m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); 302 VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
303
304 // Do any replacements in the parameters
305 m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
288 } 306 }
289 } 307 }
290 } 308 }
@@ -309,13 +327,51 @@ public class BSScene : PhysicsScene, IPhysicsParameters
309 { 327 {
310 m_log.Debug("[BULLETS UNMANAGED]:" + msg); 328 m_log.Debug("[BULLETS UNMANAGED]:" + msg);
311 } 329 }
312 330
313 // Called directly from unmanaged code so don't do much 331 // Called directly from unmanaged code so don't do much
314 private void BulletLoggerPhysLog(string msg) 332 private void BulletLoggerPhysLog(string msg)
315 { 333 {
316 PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg); 334 PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
317 } 335 }
318 336
337 public override void Dispose()
338 {
339 // m_log.DebugFormat("{0}: Dispose()", LogHeader);
340
341 // make sure no stepping happens while we're deleting stuff
342 m_initialized = false;
343
344 TerrainManager.ReleaseGroundPlaneAndTerrain();
345
346 foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
347 {
348 kvp.Value.Destroy();
349 }
350 PhysObjects.Clear();
351
352 // Now that the prims are all cleaned up, there should be no constraints left
353 if (Constraints != null)
354 {
355 Constraints.Dispose();
356 Constraints = null;
357 }
358
359 if (Shapes != null)
360 {
361 Shapes.Dispose();
362 Shapes = null;
363 }
364
365 // Anything left in the unmanaged code should be cleaned out
366 BulletSimAPI.Shutdown(WorldID);
367
368 // Not logging any more
369 PhysicsLogging.Close();
370 }
371 #endregion // Construction and Initialization
372
373 #region Prim and Avatar addition and removal
374
319 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) 375 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
320 { 376 {
321 m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader); 377 m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
@@ -329,7 +385,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
329 if (!m_initialized) return null; 385 if (!m_initialized) return null;
330 386
331 BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); 387 BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
332 lock (m_avatars) m_avatars.Add(localID, actor); 388 lock (PhysObjects) PhysObjects.Add(localID, actor);
389
390 // TODO: Remove kludge someday.
391 // We must generate a collision for avatars whether they collide or not.
392 // This is required by OpenSim to update avatar animations, etc.
393 lock (m_avatars) m_avatars.Add(actor);
394
333 return actor; 395 return actor;
334 } 396 }
335 397
@@ -344,7 +406,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
344 { 406 {
345 try 407 try
346 { 408 {
347 lock (m_avatars) m_avatars.Remove(actor.LocalID); 409 lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
410 // Remove kludge someday
411 lock (m_avatars) m_avatars.Remove(bsactor);
348 } 412 }
349 catch (Exception e) 413 catch (Exception e)
350 { 414 {
@@ -362,11 +426,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
362 BSPrim bsprim = prim as BSPrim; 426 BSPrim bsprim = prim as BSPrim;
363 if (bsprim != null) 427 if (bsprim != null)
364 { 428 {
365 // DetailLog("{0},RemovePrim,call", bsprim.LocalID); 429 DetailLog("{0},RemovePrim,call", bsprim.LocalID);
366 // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); 430 // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
367 try 431 try
368 { 432 {
369 lock (m_prims) m_prims.Remove(bsprim.LocalID); 433 lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
370 } 434 }
371 catch (Exception e) 435 catch (Exception e)
372 { 436 {
@@ -388,18 +452,21 @@ public class BSScene : PhysicsScene, IPhysicsParameters
388 452
389 if (!m_initialized) return null; 453 if (!m_initialized) return null;
390 454
391 // DetailLog("{0},AddPrimShape,call", localID); 455 DetailLog("{0},AddPrimShape,call", localID);
392 456
393 BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); 457 BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
394 lock (m_prims) m_prims.Add(localID, prim); 458 lock (PhysObjects) PhysObjects.Add(localID, prim);
395 return prim; 459 return prim;
396 } 460 }
397 461
398 // This is a call from the simulator saying that some physical property has been updated. 462 // This is a call from the simulator saying that some physical property has been updated.
399 // The BulletSim driver senses the changing of relevant properties so this taint 463 // The BulletSim driver senses the changing of relevant properties so this taint
400 // information call is not needed. 464 // information call is not needed.
401 public override void AddPhysicsActorTaint(PhysicsActor prim) { } 465 public override void AddPhysicsActorTaint(PhysicsActor prim) { }
402 466
467 #endregion // Prim and Avatar addition and removal
468
469 #region Simulation
403 // Simulate one timestep 470 // Simulate one timestep
404 public override float Simulate(float timeStep) 471 public override float Simulate(float timeStep)
405 { 472 {
@@ -408,18 +475,19 @@ public class BSScene : PhysicsScene, IPhysicsParameters
408 int collidersCount = 0; 475 int collidersCount = 0;
409 IntPtr collidersPtr; 476 IntPtr collidersPtr;
410 477
411 LastSimulatedTimestep = timeStep; 478 int beforeTime = 0;
479 int simTime = 0;
412 480
413 // prevent simulation until we've been initialized 481 // prevent simulation until we've been initialized
414 if (!m_initialized) return 10.0f; 482 if (!m_initialized) return 5.0f;
415
416 int simulateStartTime = Util.EnvironmentTickCount();
417 483
418 // update the prim states while we know the physics engine is not busy 484 // update the prim states while we know the physics engine is not busy
485 int numTaints = _taintedObjects.Count;
419 ProcessTaints(); 486 ProcessTaints();
420 487
421 // Some of the prims operate with special vehicle properties 488 // Some of the prims operate with special vehicle properties
422 ProcessVehicles(timeStep); 489 ProcessVehicles(timeStep);
490 numTaints += _taintedObjects.Count;
423 ProcessTaints(); // the vehicles might have added taints 491 ProcessTaints(); // the vehicles might have added taints
424 492
425 // step the physical world one interval 493 // step the physical world one interval
@@ -427,15 +495,22 @@ public class BSScene : PhysicsScene, IPhysicsParameters
427 int numSubSteps = 0; 495 int numSubSteps = 0;
428 try 496 try
429 { 497 {
430 numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, 498 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
499
500 numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
431 out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); 501 out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
432 // DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); 502
503 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
504 DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}",
505 DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
433 } 506 }
434 catch (Exception e) 507 catch (Exception e)
435 { 508 {
436 m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e); 509 m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
437 // DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); 510 LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
438 // updatedEntityCount = 0; 511 DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
512 DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
513 updatedEntityCount = 0;
439 collidersCount = 0; 514 collidersCount = 0;
440 } 515 }
441 516
@@ -443,7 +518,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
443 // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in 518 // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
444 519
445 // Get a value for 'now' so all the collision and update routines don't have to get their own 520 // Get a value for 'now' so all the collision and update routines don't have to get their own
446 m_simulationNowTime = Util.EnvironmentTickCount(); 521 SimulationNowTime = Util.EnvironmentTickCount();
447 522
448 // If there were collisions, process them by sending the event to the prim. 523 // If there were collisions, process them by sending the event to the prim.
449 // Collisions must be processed before updates. 524 // Collisions must be processed before updates.
@@ -460,21 +535,34 @@ public class BSScene : PhysicsScene, IPhysicsParameters
460 } 535 }
461 } 536 }
462 537
538 // This is a kludge to get avatar movement updates.
539 // ODE sends collisions for avatars even if there are have been no collisions. This updates
540 // avatar animations and stuff.
541 // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
542 foreach (BSPhysObject bsp in m_avatars)
543 bsp.SendCollisions();
544
463 // The above SendCollision's batch up the collisions on the objects. 545 // The above SendCollision's batch up the collisions on the objects.
464 // Now push the collisions into the simulator. 546 // Now push the collisions into the simulator.
465 foreach (BSPrim bsp in m_primsWithCollisions) 547 if (ObjectsWithCollisions.Count > 0)
466 bsp.SendCollisions(); 548 {
467 m_primsWithCollisions.Clear(); 549 foreach (BSPhysObject bsp in ObjectsWithCollisions)
550 if (!m_avatars.Contains(bsp)) // don't call avatars twice
551 if (!bsp.SendCollisions())
552 {
553 // If the object is done colliding, see that it's removed from the colliding list
554 ObjectsWithNoMoreCollisions.Add(bsp);
555 }
556 }
468 557
469 // This is a kludge to get avatar movement updated. 558 // Objects that are done colliding are removed from the ObjectsWithCollisions list.
470 // Don't send collisions only if there were collisions -- send everytime. 559 // This can't be done by SendCollisions because it is inside an iteration of ObjectWithCollisions.
471 // ODE sends collisions even if there are none and this is used to update 560 if (ObjectsWithNoMoreCollisions.Count > 0)
472 // avatar animations and stuff. 561 {
473 // foreach (BSCharacter bsc in m_avatarsWithCollisions) 562 foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
474 // bsc.SendCollisions(); 563 ObjectsWithCollisions.Remove(po);
475 foreach (KeyValuePair<uint, BSCharacter> kvp in m_avatars) 564 ObjectsWithNoMoreCollisions.Clear();
476 kvp.Value.SendCollisions(); 565 }
477 m_avatarsWithCollisions.Clear();
478 566
479 // If any of the objects had updated properties, tell the object it has been changed by the physics engine 567 // If any of the objects had updated properties, tell the object it has been changed by the physics engine
480 if (updatedEntityCount > 0) 568 if (updatedEntityCount > 0)
@@ -482,17 +570,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
482 for (int ii = 0; ii < updatedEntityCount; ii++) 570 for (int ii = 0; ii < updatedEntityCount; ii++)
483 { 571 {
484 EntityProperties entprop = m_updateArray[ii]; 572 EntityProperties entprop = m_updateArray[ii];
485 BSPrim prim; 573 BSPhysObject pobj;
486 if (m_prims.TryGetValue(entprop.ID, out prim)) 574 if (PhysObjects.TryGetValue(entprop.ID, out pobj))
487 { 575 {
488 prim.UpdateProperties(entprop); 576 pobj.UpdateProperties(entprop);
489 continue;
490 }
491 BSCharacter actor;
492 if (m_avatars.TryGetValue(entprop.ID, out actor))
493 {
494 actor.UpdateProperties(entprop);
495 continue;
496 } 577 }
497 } 578 }
498 } 579 }
@@ -506,121 +587,89 @@ public class BSScene : PhysicsScene, IPhysicsParameters
506 } 587 }
507 } 588 }
508 589
509 // this is a waste since the outside routine also calcuates the physics simulation 590 // The physics engine returns the number of milliseconds it simulated this call.
510 // period. TODO: There should be a way of computing physics frames from simulator computation. 591 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
511 // long simulateTotalTime = Util.EnvironmentTickCountSubtract(simulateStartTime); 592 // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS.
512 // return (timeStep * (float)simulateTotalTime); 593 return numSubSteps * m_fixedTimeStep * 1000;
513
514 // TODO: FIX THIS: fps calculation possibly wrong.
515 // This calculation says 1/timeStep is the ideal frame rate. Any time added to
516 // that by the physics simulation gives a slower frame rate.
517 long totalSimulationTime = Util.EnvironmentTickCountSubtract(simulateStartTime);
518 if (totalSimulationTime >= timeStep)
519 return 0;
520 return 1f / (timeStep + totalSimulationTime);
521 } 594 }
522 595
523 // Something has collided 596 // Something has collided
524 private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penitration) 597 private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
525 { 598 {
526 if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID) 599 if (localID <= TerrainManager.HighestTerrainID)
527 { 600 {
528 return; // don't send collisions to the terrain 601 return; // don't send collisions to the terrain
529 } 602 }
530 603
531 ActorTypes type = ActorTypes.Prim; 604 BSPhysObject collider;
532 if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID) 605 if (!PhysObjects.TryGetValue(localID, out collider))
533 type = ActorTypes.Ground; 606 {
534 else if (m_avatars.ContainsKey(collidingWith)) 607 // If the object that is colliding cannot be found, just ignore the collision.
535 type = ActorTypes.Agent; 608 DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith);
536
537 BSPrim prim;
538 if (m_prims.TryGetValue(localID, out prim)) {
539 prim.Collide(collidingWith, type, collidePoint, collideNormal, penitration);
540 m_primsWithCollisions.Add(prim);
541 return; 609 return;
542 } 610 }
543 BSCharacter actor; 611
544 if (m_avatars.TryGetValue(localID, out actor)) { 612 // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called.
545 actor.Collide(collidingWith, type, collidePoint, collideNormal, penitration); 613 BSPhysObject collidee = null;
546 m_avatarsWithCollisions.Add(actor); 614 PhysObjects.TryGetValue(collidingWith, out collidee);
547 return; 615
616 DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
617
618 if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
619 {
620 // If a collision was posted, remember to send it to the simulator
621 ObjectsWithCollisions.Add(collider);
548 } 622 }
623
549 return; 624 return;
550 } 625 }
551 626
552 public override void GetResults() { } 627 #endregion // Simulation
553 628
554 public override void SetTerrain(float[] heightMap) { 629 public override void GetResults() { }
555 m_heightMap = heightMap;
556 this.TaintedObject("BSScene.SetTerrain", delegate()
557 {
558 BulletSimAPI.SetHeightmap(m_worldID, m_heightMap);
559 });
560 }
561 630
562 // Someday we will have complex terrain with caves and tunnels 631 #region Terrain
563 // For the moment, it's flat and convex
564 public float GetTerrainHeightAtXYZ(Vector3 loc)
565 {
566 return GetTerrainHeightAtXY(loc.X, loc.Y);
567 }
568 632
569 public float GetTerrainHeightAtXY(float tX, float tY) 633 public override void SetTerrain(float[] heightMap) {
570 { 634 TerrainManager.SetTerrain(heightMap);
571 if (tX < 0 || tX >= Constants.RegionSize || tY < 0 || tY >= Constants.RegionSize)
572 return 30;
573 return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)];
574 } 635 }
575 636
576 public override void SetWaterLevel(float baseheight) 637 public override void SetWaterLevel(float baseheight)
577 { 638 {
578 m_waterLevel = baseheight; 639 m_waterLevel = baseheight;
579 // TODO: pass to physics engine so things will float?
580 } 640 }
581 public float GetWaterLevel() 641 // Someday....
642 public float GetWaterLevelAtXYZ(Vector3 loc)
582 { 643 {
583 return m_waterLevel; 644 return m_waterLevel;
584 } 645 }
585 646
586 public override void DeleteTerrain() 647 public override void DeleteTerrain()
587 { 648 {
588 // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); 649 // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
589 } 650 }
590 651
591 public override void Dispose() 652 // Although no one seems to check this, I do support combining.
653 public override bool SupportsCombining()
592 { 654 {
593 // m_log.DebugFormat("{0}: Dispose()", LogHeader); 655 return TerrainManager.SupportsCombining();
594 656 }
595 // make sure no stepping happens while we're deleting stuff 657 // This call says I am a child to region zero in a mega-region. 'pScene' is that
596 m_initialized = false; 658 // of region zero, 'offset' is my offset from regions zero's origin, and
597 659 // 'extents' is the largest XY that is handled in my region.
598 foreach (KeyValuePair<uint, BSCharacter> kvp in m_avatars) 660 public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
599 { 661 {
600 kvp.Value.Destroy(); 662 TerrainManager.Combine(pScene, offset, extents);
601 } 663 }
602 m_avatars.Clear();
603
604 foreach (KeyValuePair<uint, BSPrim> kvp in m_prims)
605 {
606 kvp.Value.Destroy();
607 }
608 m_prims.Clear();
609
610 // Now that the prims are all cleaned up, there should be no constraints left
611 if (m_constraintCollection != null)
612 {
613 m_constraintCollection.Dispose();
614 m_constraintCollection = null;
615 }
616
617 // Anything left in the unmanaged code should be cleaned out
618 BulletSimAPI.Shutdown(WorldID);
619 664
620 // Not logging any more 665 // Unhook all the combining that I know about.
621 PhysicsLogging.Close(); 666 public override void UnCombine(PhysicsScene pScene)
667 {
668 TerrainManager.UnCombine(pScene);
622 } 669 }
623 670
671 #endregion // Terrain
672
624 public override Dictionary<uint, float> GetTopColliders() 673 public override Dictionary<uint, float> GetTopColliders()
625 { 674 {
626 return new Dictionary<uint, float>(); 675 return new Dictionary<uint, float>();
@@ -628,121 +677,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
628 677
629 public override bool IsThreaded { get { return false; } } 678 public override bool IsThreaded { get { return false; } }
630 679
631 /// <summary>
632 /// Routine to figure out if we need to mesh this prim with our mesher
633 /// </summary>
634 /// <param name="pbs"></param>
635 /// <returns>true if the prim needs meshing</returns>
636 public bool NeedsMeshing(PrimitiveBaseShape pbs)
637 {
638 // most of this is redundant now as the mesher will return null if it cant mesh a prim
639 // but we still need to check for sculptie meshing being enabled so this is the most
640 // convenient place to do it for now...
641
642 // int iPropertiesNotSupportedDefault = 0;
643
644 if (pbs.SculptEntry && !_meshSculptedPrim)
645 {
646 // Render sculpties as boxes
647 return false;
648 }
649
650 // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since Bullet
651 // can use an internal representation for the prim
652 if (!_forceSimplePrimMeshing)
653 {
654 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
655 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
656 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
657 {
658
659 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
660 && pbs.ProfileHollow == 0
661 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
662 && pbs.PathBegin == 0 && pbs.PathEnd == 0
663 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
664 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
665 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
666 {
667 return false;
668 }
669 }
670 }
671
672 /* TODO: verify that the mesher will now do all these shapes
673 if (pbs.ProfileHollow != 0)
674 iPropertiesNotSupportedDefault++;
675
676 if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
677 iPropertiesNotSupportedDefault++;
678
679 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
680 iPropertiesNotSupportedDefault++;
681
682 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
683 iPropertiesNotSupportedDefault++;
684
685 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
686 iPropertiesNotSupportedDefault++;
687
688 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
689 iPropertiesNotSupportedDefault++;
690
691 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
692 iPropertiesNotSupportedDefault++;
693
694 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
695 iPropertiesNotSupportedDefault++;
696
697 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
698 iPropertiesNotSupportedDefault++;
699
700 // test for torus
701 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
702 {
703 if (pbs.PathCurve == (byte)Extrusion.Curve1)
704 {
705 iPropertiesNotSupportedDefault++;
706 }
707 }
708 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
709 {
710 if (pbs.PathCurve == (byte)Extrusion.Straight)
711 {
712 iPropertiesNotSupportedDefault++;
713 }
714 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
715 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
716 {
717 iPropertiesNotSupportedDefault++;
718 }
719 }
720 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
721 {
722 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
723 {
724 iPropertiesNotSupportedDefault++;
725 }
726 }
727 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
728 {
729 if (pbs.PathCurve == (byte)Extrusion.Straight)
730 {
731 iPropertiesNotSupportedDefault++;
732 }
733 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
734 {
735 iPropertiesNotSupportedDefault++;
736 }
737 }
738 if (iPropertiesNotSupportedDefault == 0)
739 {
740 return false;
741 }
742 */
743 return true;
744 }
745
746 // Calls to the PhysicsActors can't directly call into the physics engine 680 // Calls to the PhysicsActors can't directly call into the physics engine
747 // because it might be busy. We delay changes to a known time. 681 // because it might be busy. We delay changes to a known time.
748 // We rely on C#'s closure to save and restore the context for the delegate. 682 // We rely on C#'s closure to save and restore the context for the delegate.
@@ -751,7 +685,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
751 if (!m_initialized) return; 685 if (!m_initialized) return;
752 686
753 lock (_taintLock) 687 lock (_taintLock)
688 {
754 _taintedObjects.Add(new TaintCallbackEntry(ident, callback)); 689 _taintedObjects.Add(new TaintCallbackEntry(ident, callback));
690 }
691
755 return; 692 return;
756 } 693 }
757 694
@@ -830,14 +767,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
830 // no locking because only called when physics engine is not busy 767 // no locking because only called when physics engine is not busy
831 private void ProcessVehicles(float timeStep) 768 private void ProcessVehicles(float timeStep)
832 { 769 {
833 foreach (BSPrim prim in m_vehicles) 770 foreach (BSPhysObject pobj in m_vehicles)
834 { 771 {
835 prim.StepVehicle(timeStep); 772 pobj.StepVehicle(timeStep);
836 } 773 }
837 } 774 }
838 #endregion Vehicles 775 #endregion Vehicles
839 776
840 #region Parameters 777 #region INI and command line parameter processing
841 778
842 delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); 779 delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
843 delegate float ParamGet(BSScene scene); 780 delegate float ParamGet(BSScene scene);
@@ -869,7 +806,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
869 // getters and setters. 806 // getters and setters.
870 // It is easiest to find an existing definition and copy it. 807 // It is easiest to find an existing definition and copy it.
871 // Parameter values are floats. Booleans are converted to a floating value. 808 // Parameter values are floats. Booleans are converted to a floating value.
872 // 809 //
873 // A ParameterDefn() takes the following parameters: 810 // A ParameterDefn() takes the following parameters:
874 // -- the text name of the parameter. This is used for console input and ini file. 811 // -- the text name of the parameter. This is used for console input and ini file.
875 // -- a short text description of the parameter. This shows up in the console listing. 812 // -- a short text description of the parameter. This shows up in the console listing.
@@ -888,25 +825,35 @@ public class BSScene : PhysicsScene, IPhysicsParameters
888 { 825 {
889 new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", 826 new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
890 ConfigurationParameters.numericTrue, 827 ConfigurationParameters.numericTrue,
891 (s,cf,p,v) => { s._meshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); }, 828 (s,cf,p,v) => { s.ShouldMeshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); },
892 (s) => { return s.NumericBool(s._meshSculptedPrim); }, 829 (s) => { return s.NumericBool(s.ShouldMeshSculptedPrim); },
893 (s,p,l,v) => { s._meshSculptedPrim = s.BoolNumeric(v); } ), 830 (s,p,l,v) => { s.ShouldMeshSculptedPrim = s.BoolNumeric(v); } ),
894 new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", 831 new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
895 ConfigurationParameters.numericFalse, 832 ConfigurationParameters.numericFalse,
896 (s,cf,p,v) => { s._forceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, 833 (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
897 (s) => { return s.NumericBool(s._forceSimplePrimMeshing); }, 834 (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
898 (s,p,l,v) => { s._forceSimplePrimMeshing = s.BoolNumeric(v); } ), 835 (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
899 836
900 new ParameterDefn("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 837 new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
901 8f, 838 8f,
902 (s,cf,p,v) => { s.m_meshLOD = cf.GetInt(p, (int)v); }, 839 (s,cf,p,v) => { s.MeshLOD = (float)cf.GetInt(p, (int)v); },
903 (s) => { return (float)s.m_meshLOD; }, 840 (s) => { return s.MeshLOD; },
904 (s,p,l,v) => { s.m_meshLOD = (int)v; } ), 841 (s,p,l,v) => { s.MeshLOD = v; } ),
905 new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", 842 new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
843 16f,
844 (s,cf,p,v) => { s.MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
845 (s) => { return s.MeshMegaPrimLOD; },
846 (s,p,l,v) => { s.MeshMegaPrimLOD = v; } ),
847 new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
848 10f,
849 (s,cf,p,v) => { s.MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
850 (s) => { return s.MeshMegaPrimThreshold; },
851 (s,p,l,v) => { s.MeshMegaPrimThreshold = v; } ),
852 new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
906 32f, 853 32f,
907 (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); }, 854 (s,cf,p,v) => { s.SculptLOD = (float)cf.GetInt(p, (int)v); },
908 (s) => { return (float)s.m_sculptLOD; }, 855 (s) => { return s.SculptLOD; },
909 (s,p,l,v) => { s.m_sculptLOD = (int)v; } ), 856 (s,p,l,v) => { s.SculptLOD = v; } ),
910 857
911 new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", 858 new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
912 10f, 859 10f,
@@ -930,9 +877,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
930 (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), 877 (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
931 new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", 878 new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
932 10000.01f, 879 10000.01f,
933 (s,cf,p,v) => { s.m_maximumObjectMass = cf.GetFloat(p, v); }, 880 (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); },
934 (s) => { return (float)s.m_maximumObjectMass; }, 881 (s) => { return (float)s.MaximumObjectMass; },
935 (s,p,l,v) => { s.m_maximumObjectMass = v; } ), 882 (s,p,l,v) => { s.MaximumObjectMass = v; } ),
936 883
937 new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", 884 new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
938 2200f, 885 2200f,
@@ -976,42 +923,42 @@ public class BSScene : PhysicsScene, IPhysicsParameters
976 0f, 923 0f,
977 (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, 924 (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
978 (s) => { return s.m_params[0].linearDamping; }, 925 (s) => { return s.m_params[0].linearDamping; },
979 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearDamping, p, l, v); } ), 926 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); } ),
980 new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", 927 new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
981 0f, 928 0f,
982 (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, 929 (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
983 (s) => { return s.m_params[0].angularDamping; }, 930 (s) => { return s.m_params[0].angularDamping; },
984 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularDamping, p, l, v); } ), 931 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); } ),
985 new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", 932 new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
986 0.2f, 933 0.2f,
987 (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, 934 (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
988 (s) => { return s.m_params[0].deactivationTime; }, 935 (s) => { return s.m_params[0].deactivationTime; },
989 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].deactivationTime, p, l, v); } ), 936 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); } ),
990 new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", 937 new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
991 0.8f, 938 0.8f,
992 (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); }, 939 (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
993 (s) => { return s.m_params[0].linearSleepingThreshold; }, 940 (s) => { return s.m_params[0].linearSleepingThreshold; },
994 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ), 941 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ),
995 new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", 942 new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
996 1.0f, 943 1.0f,
997 (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); }, 944 (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
998 (s) => { return s.m_params[0].angularSleepingThreshold; }, 945 (s) => { return s.m_params[0].angularSleepingThreshold; },
999 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ), 946 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ),
1000 new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , 947 new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
1001 0f, // set to zero to disable 948 0f, // set to zero to disable
1002 (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); }, 949 (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
1003 (s) => { return s.m_params[0].ccdMotionThreshold; }, 950 (s) => { return s.m_params[0].ccdMotionThreshold; },
1004 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ), 951 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ),
1005 new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 952 new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
1006 0f, 953 0f,
1007 (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, 954 (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
1008 (s) => { return s.m_params[0].ccdSweptSphereRadius; }, 955 (s) => { return s.m_params[0].ccdSweptSphereRadius; },
1009 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ), 956 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ),
1010 new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , 957 new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
1011 0.1f, 958 0.1f,
1012 (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, 959 (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
1013 (s) => { return s.m_params[0].contactProcessingThreshold; }, 960 (s) => { return s.m_params[0].contactProcessingThreshold; },
1014 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ), 961 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ),
1015 962
1016 new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 963 new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
1017 0.5f, 964 0.5f,
@@ -1029,35 +976,35 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1029 (s) => { return s.m_params[0].terrainRestitution; }, 976 (s) => { return s.m_params[0].terrainRestitution; },
1030 (s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ), 977 (s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ),
1031 new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", 978 new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
1032 0.5f, 979 0.2f,
1033 (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, 980 (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
1034 (s) => { return s.m_params[0].avatarFriction; }, 981 (s) => { return s.m_params[0].avatarFriction; },
1035 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarFriction, p, l, v); } ), 982 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
1036 new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", 983 new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
1037 60f, 984 60f,
1038 (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); }, 985 (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
1039 (s) => { return s.m_params[0].avatarDensity; }, 986 (s) => { return s.m_params[0].avatarDensity; },
1040 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarDensity, p, l, v); } ), 987 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarDensity, p, l, v); } ),
1041 new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", 988 new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
1042 0f, 989 0f,
1043 (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); }, 990 (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); },
1044 (s) => { return s.m_params[0].avatarRestitution; }, 991 (s) => { return s.m_params[0].avatarRestitution; },
1045 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarRestitution, p, l, v); } ), 992 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ),
1046 new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar", 993 new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar",
1047 0.37f, 994 0.37f,
1048 (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); }, 995 (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); },
1049 (s) => { return s.m_params[0].avatarCapsuleRadius; }, 996 (s) => { return s.m_params[0].avatarCapsuleRadius; },
1050 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ), 997 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ),
1051 new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", 998 new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
1052 1.5f, 999 1.5f,
1053 (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); }, 1000 (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },
1054 (s) => { return s.m_params[0].avatarCapsuleHeight; }, 1001 (s) => { return s.m_params[0].avatarCapsuleHeight; },
1055 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ), 1002 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ),
1056 new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 1003 new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
1057 0.1f, 1004 0.1f,
1058 (s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); }, 1005 (s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); },
1059 (s) => { return s.m_params[0].avatarContactProcessingThreshold; }, 1006 (s) => { return s.m_params[0].avatarContactProcessingThreshold; },
1060 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), 1007 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
1061 1008
1062 1009
1063 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 1010 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
@@ -1086,7 +1033,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1086 (s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, 1033 (s) => { return s.m_params[0].shouldRandomizeSolverOrder; },
1087 (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), 1034 (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ),
1088 new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", 1035 new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
1089 ConfigurationParameters.numericFalse, 1036 ConfigurationParameters.numericTrue,
1090 (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, 1037 (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
1091 (s) => { return s.m_params[0].shouldSplitSimulationIslands; }, 1038 (s) => { return s.m_params[0].shouldSplitSimulationIslands; },
1092 (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ), 1039 (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ),
@@ -1121,8 +1068,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1121 (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, 1068 (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
1122 (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, 1069 (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
1123 (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), 1070 (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
1124 new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=none, 1=all. Default=0", 1071 new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
1125 0.0f, 1072 0.1f,
1126 (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, 1073 (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
1127 (s) => { return s.m_params[0].linkConstraintCFM; }, 1074 (s) => { return s.m_params[0].linkConstraintCFM; },
1128 (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), 1075 (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
@@ -1131,18 +1078,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1131 (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, 1078 (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
1132 (s) => { return s.m_params[0].linkConstraintERP; }, 1079 (s) => { return s.m_params[0].linkConstraintERP; },
1133 (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), 1080 (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
1081 new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
1082 40,
1083 (s,cf,p,v) => { s.m_params[0].linkConstraintSolverIterations = cf.GetFloat(p, v); },
1084 (s) => { return s.m_params[0].linkConstraintSolverIterations; },
1085 (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
1134 1086
1135 new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", 1087 new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)",
1136 0f, 1088 0f,
1137 (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); }, 1089 (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); },
1138 (s) => { return (float)s.m_detailedStatsStep; }, 1090 (s) => { return (float)s.m_detailedStatsStep; },
1139 (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), 1091 (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ),
1140 new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements",
1141 ConfigurationParameters.numericFalse,
1142 (s,cf,p,v) => { s.ShouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); },
1143 (s) => { return s.NumericBool(s.ShouldDebugLog); },
1144 (s,p,l,v) => { s.ShouldDebugLog = s.BoolNumeric(v); } ),
1145
1146 }; 1092 };
1147 1093
1148 // Convert a boolean to our numeric true and false values 1094 // Convert a boolean to our numeric true and false values
@@ -1200,6 +1146,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1200 1146
1201 private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; 1147 private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
1202 1148
1149 // This creates an array in the correct format for returning the list of
1150 // parameters. This is used by the 'list' option of the 'physics' command.
1203 private void BuildParameterTable() 1151 private void BuildParameterTable()
1204 { 1152 {
1205 if (SettableParameters.Length < ParameterDefinitions.Length) 1153 if (SettableParameters.Length < ParameterDefinitions.Length)
@@ -1250,18 +1198,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1250 } 1198 }
1251 1199
1252 // check to see if we are updating a parameter for a particular or all of the prims 1200 // check to see if we are updating a parameter for a particular or all of the prims
1253 protected void UpdateParameterPrims(ref float loc, string parm, uint localID, float val) 1201 protected void UpdateParameterObject(ref float loc, string parm, uint localID, float val)
1254 {
1255 List<uint> operateOn;
1256 lock (m_prims) operateOn = new List<uint>(m_prims.Keys);
1257 UpdateParameterSet(operateOn, ref loc, parm, localID, val);
1258 }
1259
1260 // check to see if we are updating a parameter for a particular or all of the avatars
1261 protected void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val)
1262 { 1202 {
1263 List<uint> operateOn; 1203 List<uint> operateOn;
1264 lock (m_avatars) operateOn = new List<uint>(m_avatars.Keys); 1204 lock (PhysObjects) operateOn = new List<uint>(PhysObjects.Keys);
1265 UpdateParameterSet(operateOn, ref loc, parm, localID, val); 1205 UpdateParameterSet(operateOn, ref loc, parm, localID, val);
1266 } 1206 }
1267 1207
@@ -1284,11 +1224,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1284 TaintedObject("BSScene.UpdateParameterSet", delegate() { 1224 TaintedObject("BSScene.UpdateParameterSet", delegate() {
1285 foreach (uint lID in objectIDs) 1225 foreach (uint lID in objectIDs)
1286 { 1226 {
1287 BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval); 1227 BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
1288 } 1228 }
1289 }); 1229 });
1290 break; 1230 break;
1291 default: 1231 default:
1292 // setting only one localID 1232 // setting only one localID
1293 TaintedUpdateParameter(parm, localID, val); 1233 TaintedUpdateParameter(parm, localID, val);
1294 break; 1234 break;
@@ -1302,7 +1242,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1302 string xparm = parm.ToLower(); 1242 string xparm = parm.ToLower();
1303 float xval = val; 1243 float xval = val;
1304 TaintedObject("BSScene.TaintedUpdateParameter", delegate() { 1244 TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
1305 BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval); 1245 BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
1306 }); 1246 });
1307 } 1247 }
1308 1248
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
new file mode 100755
index 0000000..dee6243
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -0,0 +1,735 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using OMV = OpenMetaverse;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using OpenSim.Region.Physics.ConvexDecompositionDotNet;
34
35namespace OpenSim.Region.Physics.BulletSPlugin
36{
37public class BSShapeCollection : IDisposable
38{
39 private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
40
41 protected BSScene PhysicsScene { get; set; }
42
43 private Object m_collectionActivityLock = new Object();
44
45 // Description of a Mesh
46 private struct MeshDesc
47 {
48 public IntPtr ptr;
49 public int referenceCount;
50 public DateTime lastReferenced;
51 }
52
53 // Description of a hull.
54 // Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects
55 private struct HullDesc
56 {
57 public IntPtr ptr;
58 public int referenceCount;
59 public DateTime lastReferenced;
60 }
61
62 private struct BodyDesc
63 {
64 public IntPtr ptr;
65 // Bodies are only used once so reference count is always either one or zero
66 public int referenceCount;
67 public DateTime lastReferenced;
68 }
69
70 private Dictionary<ulong, MeshDesc> Meshes = new Dictionary<ulong, MeshDesc>();
71 private Dictionary<ulong, HullDesc> Hulls = new Dictionary<ulong, HullDesc>();
72 private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>();
73
74 public BSShapeCollection(BSScene physScene)
75 {
76 PhysicsScene = physScene;
77 }
78
79 public void Dispose()
80 {
81 // TODO!!!!!!!!!
82 }
83
84 // Callbacks called just before either the body or shape is destroyed.
85 // Mostly used for changing bodies out from under Linksets.
86 // Useful for other cases where parameters need saving.
87 // Passing 'null' says no callback.
88 public delegate void ShapeDestructionCallback(BulletShape shape);
89 public delegate void BodyDestructionCallback(BulletBody body);
90
91 // Called to update/change the body and shape for an object.
92 // First checks the shape and updates that if necessary then makes
93 // sure the body is of the right type.
94 // Return 'true' if either the body or the shape changed.
95 // Called at taint-time!!
96 public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim,
97 ShapeData shapeData, PrimitiveBaseShape pbs,
98 ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
99 {
100 bool ret = false;
101
102 // This lock could probably be pushed down lower but building shouldn't take long
103 lock (m_collectionActivityLock)
104 {
105 // Do we have the correct geometry for this type of object?
106 // Updates prim.BSShape with information/pointers to requested shape
107 bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
108 // If we had to select a new shape geometry for the object,
109 // rebuild the body around it.
110 // Updates prim.BSBody with information/pointers to requested body
111 bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback);
112 ret = newGeom || newBody;
113 }
114 DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}",
115 prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape);
116
117 return ret;
118 }
119
120 // Track another user of a body
121 // We presume the caller has allocated the body.
122 // Bodies only have one user so the reference count is either 1 or 0.
123 public void ReferenceBody(BulletBody body, bool atTaintTime)
124 {
125 lock (m_collectionActivityLock)
126 {
127 BodyDesc bodyDesc;
128 if (Bodies.TryGetValue(body.ID, out bodyDesc))
129 {
130 bodyDesc.referenceCount++;
131 DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,body={1},ref={2}", body.ID, body, bodyDesc.referenceCount);
132 }
133 else
134 {
135 // New entry
136 bodyDesc.ptr = body.ptr;
137 bodyDesc.referenceCount = 1;
138 DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", body.ID, body, bodyDesc.referenceCount);
139 }
140 bodyDesc.lastReferenced = System.DateTime.Now;
141 Bodies[body.ID] = bodyDesc;
142 }
143}
144
145 // Release the usage of a body.
146 // Called when releasing use of a BSBody. BSShape is handled separately.
147 public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
148 {
149 if (body.ptr == IntPtr.Zero)
150 return;
151
152 lock (m_collectionActivityLock)
153 {
154 BodyDesc bodyDesc;
155 if (Bodies.TryGetValue(body.ID, out bodyDesc))
156 {
157 bodyDesc.referenceCount--;
158 bodyDesc.lastReferenced = System.DateTime.Now;
159 Bodies[body.ID] = bodyDesc;
160 DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount);
161
162 // If body is no longer being used, free it -- bodies are never shared.
163 if (bodyDesc.referenceCount == 0)
164 {
165 Bodies.Remove(body.ID);
166 BSScene.TaintCallback removeOperation = delegate()
167 {
168 DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}",
169 body.ID, body.ptr.ToString("X"));
170 // If the caller needs to know, pass the event up.
171 if (bodyCallback != null) bodyCallback(body);
172
173 // Zero any reference to the shape so it is not freed when the body is deleted.
174 BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
175 // It may have already been removed from the world in which case the next is a NOOP.
176 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
177 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
178 };
179 // If already in taint-time, do the operations now. Otherwise queue for later.
180 if (inTaintTime)
181 removeOperation();
182 else
183 PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
184 }
185 }
186 else
187 {
188 DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount);
189 }
190 }
191 }
192
193 // Track the datastructures and use count for a shape.
194 // When creating a hull, this is called first to reference the mesh
195 // and then again to reference the hull.
196 // Meshes and hulls for the same shape have the same hash key.
197 // NOTE that native shapes are not added to the mesh list or removed.
198 // Returns 'true' if this is the initial reference to the shape. Otherwise reused.
199 private bool ReferenceShape(BulletShape shape)
200 {
201 bool ret = false;
202 switch (shape.type)
203 {
204 case ShapeData.PhysicsShapeType.SHAPE_MESH:
205 MeshDesc meshDesc;
206 if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
207 {
208 // There is an existing instance of this mesh.
209 meshDesc.referenceCount++;
210 DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}",
211 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
212 }
213 else
214 {
215 // This is a new reference to a mesh
216 meshDesc.ptr = shape.ptr;
217 // We keep a reference to the underlying IMesh data so a hull can be built
218 meshDesc.referenceCount = 1;
219 DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}",
220 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
221 ret = true;
222 }
223 meshDesc.lastReferenced = System.DateTime.Now;
224 Meshes[shape.shapeKey] = meshDesc;
225 break;
226 case ShapeData.PhysicsShapeType.SHAPE_HULL:
227 HullDesc hullDesc;
228 if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
229 {
230 // There is an existing instance of this hull.
231 hullDesc.referenceCount++;
232 DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}",
233 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
234 }
235 else
236 {
237 // This is a new reference to a hull
238 hullDesc.ptr = shape.ptr;
239 hullDesc.referenceCount = 1;
240 DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}",
241 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
242 ret = true;
243
244 }
245 hullDesc.lastReferenced = System.DateTime.Now;
246 Hulls[shape.shapeKey] = hullDesc;
247 break;
248 case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
249 break;
250 default:
251 // Native shapes are not tracked and they don't go into any list
252 break;
253 }
254 return ret;
255 }
256
257 // Release the usage of a shape.
258 // The collisionObject is released since it is a copy of the real collision shape.
259 public void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback)
260 {
261 if (shape.ptr == IntPtr.Zero)
262 return;
263
264 BSScene.TaintCallback dereferenceOperation = delegate()
265 {
266 switch (shape.type)
267 {
268 case ShapeData.PhysicsShapeType.SHAPE_HULL:
269 DereferenceHull(shape, shapeCallback);
270 break;
271 case ShapeData.PhysicsShapeType.SHAPE_MESH:
272 DereferenceMesh(shape, shapeCallback);
273 break;
274 case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
275 break;
276 default:
277 // Native shapes are not tracked and are released immediately
278 if (shape.ptr != IntPtr.Zero & shape.isNativeShape)
279 {
280 DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
281 BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime);
282 if (shapeCallback != null) shapeCallback(shape);
283 BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
284 }
285 break;
286 }
287 };
288 if (atTaintTime)
289 {
290 lock (m_collectionActivityLock)
291 {
292 dereferenceOperation();
293 }
294 }
295 else
296 {
297 PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation);
298 }
299 }
300
301 // Count down the reference count for a mesh shape
302 // Called at taint-time.
303 private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
304 {
305 MeshDesc meshDesc;
306 if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
307 {
308 meshDesc.referenceCount--;
309 // TODO: release the Bullet storage
310 if (shapeCallback != null) shapeCallback(shape);
311 meshDesc.lastReferenced = System.DateTime.Now;
312 Meshes[shape.shapeKey] = meshDesc;
313 DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}",
314 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
315
316 }
317 }
318
319 // Count down the reference count for a hull shape
320 // Called at taint-time.
321 private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
322 {
323 HullDesc hullDesc;
324 if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
325 {
326 hullDesc.referenceCount--;
327 // TODO: release the Bullet storage (aging old entries?)
328 if (shapeCallback != null) shapeCallback(shape);
329 hullDesc.lastReferenced = System.DateTime.Now;
330 Hulls[shape.shapeKey] = hullDesc;
331 DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}",
332 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
333 }
334 }
335
336 // Create the geometry information in Bullet for later use.
337 // The objects needs a hull if it's physical otherwise a mesh is enough.
338 // No locking here because this is done when we know physics is not simulating.
339 // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
340 // Returns 'true' if the geometry was rebuilt.
341 // Called at taint-time!
342 private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData,
343 PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
344 {
345 bool ret = false;
346 bool haveShape = false;
347 bool nativeShapePossible = true;
348
349 // If the prim attributes are simple, this could be a simple Bullet native shape
350 if (nativeShapePossible
351 && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
352 || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
353 && pbs.ProfileHollow == 0
354 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
355 && pbs.PathBegin == 0 && pbs.PathEnd == 0
356 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
357 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
358 && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
359 {
360 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
361 {
362 haveShape = true;
363 if (forceRebuild
364 || prim.Scale != shapeData.Size
365 || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
366 )
367 {
368 ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
369 ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
370 DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
371 prim.LocalID, forceRebuild, prim.BSShape);
372 }
373 }
374 else
375 {
376 haveShape = true;
377 if (forceRebuild
378 || prim.Scale != shapeData.Size
379 || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
380 )
381 {
382 ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
383 ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
384 DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
385 prim.LocalID, forceRebuild, prim.BSShape);
386 }
387 }
388 }
389 // If a simple shape is not happening, create a mesh and possibly a hull.
390 // Note that if it's a native shape, the check for physical/non-physical is not
391 // made. Native shapes are best used in either case.
392 if (!haveShape)
393 {
394 if (prim.IsPhysical)
395 {
396 // Update prim.BSShape to reference a hull of this shape.
397 ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
398 DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
399 shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
400 }
401 else
402 {
403 ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
404 DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
405 shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
406 }
407 }
408 return ret;
409 }
410
411 // Creates a native shape and assignes it to prim.BSShape
412 private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData,
413 ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
414 ShapeDestructionCallback shapeCallback)
415 {
416 BulletShape newShape;
417
418 shapeData.Type = shapeType;
419 // Bullet native objects are scaled by the Bullet engine so pass the size in
420 prim.Scale = shapeData.Size;
421 shapeData.Scale = shapeData.Size;
422
423 // release any previous shape
424 DereferenceShape(prim.BSShape, true, shapeCallback);
425
426 // Native shapes are always built independently.
427 newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
428 newShape.shapeKey = (ulong)shapeKey;
429 newShape.isNativeShape = true;
430
431 // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
432 // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
433
434 prim.BSShape = newShape;
435 return true;
436 }
437
438 // Builds a mesh shape in the physical world and updates prim.BSShape.
439 // Dereferences previous shape in BSShape and adds a reference for this new shape.
440 // Returns 'true' of a mesh was actually built. Otherwise .
441 // Called at taint-time!
442 private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
443 ShapeDestructionCallback shapeCallback)
444 {
445 BulletShape newShape = new BulletShape(IntPtr.Zero);
446
447 float lod;
448 ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
449
450 // if this new shape is the same as last time, don't recreate the mesh
451 if (prim.BSShape.shapeKey == newMeshKey) return false;
452
453 DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}",
454 prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
455
456 // Since we're recreating new, get rid of the reference to the previous shape
457 DereferenceShape(prim.BSShape, true, shapeCallback);
458
459 newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
460
461 ReferenceShape(newShape);
462
463 // meshes are already scaled by the meshmerizer
464 prim.Scale = new OMV.Vector3(1f, 1f, 1f);
465 prim.BSShape = newShape;
466
467 return true; // 'true' means a new shape has been added to this prim
468 }
469
470 private BulletShape CreatePhysicalMesh(string objName, ulong newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
471 {
472 IMesh meshData = null;
473 IntPtr meshPtr;
474 MeshDesc meshDesc;
475 if (Meshes.TryGetValue(newMeshKey, out meshDesc))
476 {
477 // If the mesh has already been built just use it.
478 meshPtr = meshDesc.ptr;
479 }
480 else
481 {
482 // Pass false for physicalness as this creates some sort of bounding box which we don't need
483 meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
484
485 int[] indices = meshData.getIndexListAsInt();
486 List<OMV.Vector3> vertices = meshData.getVertexList();
487
488 float[] verticesAsFloats = new float[vertices.Count * 3];
489 int vi = 0;
490 foreach (OMV.Vector3 vv in vertices)
491 {
492 verticesAsFloats[vi++] = vv.X;
493 verticesAsFloats[vi++] = vv.Y;
494 verticesAsFloats[vi++] = vv.Z;
495 }
496
497 // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
498 // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
499
500 meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
501 indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
502 }
503 BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH);
504 newShape.shapeKey = newMeshKey;
505
506 return newShape;
507 }
508
509 // See that hull shape exists in the physical world and update prim.BSShape.
510 // We could be creating the hull because scale changed or whatever.
511 private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
512 ShapeDestructionCallback shapeCallback)
513 {
514 BulletShape newShape;
515
516 float lod;
517 ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
518
519 // if the hull hasn't changed, don't rebuild it
520 if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
521 return false;
522
523 DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}",
524 prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
525
526 // Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull.
527 DereferenceShape(prim.BSShape, true, shapeCallback);
528
529 newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
530
531 ReferenceShape(newShape);
532
533 // hulls are already scaled by the meshmerizer
534 prim.Scale = new OMV.Vector3(1f, 1f, 1f);
535 prim.BSShape = newShape;
536 return true; // 'true' means a new shape has been added to this prim
537 }
538
539 List<ConvexResult> m_hulls;
540 private BulletShape CreatePhysicalHull(string objName, ulong newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
541 {
542
543 IntPtr hullPtr;
544 HullDesc hullDesc;
545 if (Hulls.TryGetValue(newHullKey, out hullDesc))
546 {
547 // If the hull shape already is created, just use it.
548 hullPtr = hullDesc.ptr;
549 }
550 else
551 {
552 // Build a new hull in the physical world
553 // Pass false for physicalness as this creates some sort of bounding box which we don't need
554 IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
555
556 int[] indices = meshData.getIndexListAsInt();
557 List<OMV.Vector3> vertices = meshData.getVertexList();
558
559 //format conversion from IMesh format to DecompDesc format
560 List<int> convIndices = new List<int>();
561 List<float3> convVertices = new List<float3>();
562 for (int ii = 0; ii < indices.GetLength(0); ii++)
563 {
564 convIndices.Add(indices[ii]);
565 }
566 foreach (OMV.Vector3 vv in vertices)
567 {
568 convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
569 }
570
571 // setup and do convex hull conversion
572 m_hulls = new List<ConvexResult>();
573 DecompDesc dcomp = new DecompDesc();
574 dcomp.mIndices = convIndices;
575 dcomp.mVertices = convVertices;
576 ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
577 // create the hull into the _hulls variable
578 convexBuilder.process(dcomp);
579
580 // Convert the vertices and indices for passing to unmanaged.
581 // The hull information is passed as a large floating point array.
582 // The format is:
583 // convHulls[0] = number of hulls
584 // convHulls[1] = number of vertices in first hull
585 // convHulls[2] = hull centroid X coordinate
586 // convHulls[3] = hull centroid Y coordinate
587 // convHulls[4] = hull centroid Z coordinate
588 // convHulls[5] = first hull vertex X
589 // convHulls[6] = first hull vertex Y
590 // convHulls[7] = first hull vertex Z
591 // convHulls[8] = second hull vertex X
592 // ...
593 // convHulls[n] = number of vertices in second hull
594 // convHulls[n+1] = second hull centroid X coordinate
595 // ...
596 //
597 // TODO: is is very inefficient. Someday change the convex hull generator to return
598 // data structures that do not need to be converted in order to pass to Bullet.
599 // And maybe put the values directly into pinned memory rather than marshaling.
600 int hullCount = m_hulls.Count;
601 int totalVertices = 1; // include one for the count of the hulls
602 foreach (ConvexResult cr in m_hulls)
603 {
604 totalVertices += 4; // add four for the vertex count and centroid
605 totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
606 }
607 float[] convHulls = new float[totalVertices];
608
609 convHulls[0] = (float)hullCount;
610 int jj = 1;
611 foreach (ConvexResult cr in m_hulls)
612 {
613 // copy vertices for index access
614 float3[] verts = new float3[cr.HullVertices.Count];
615 int kk = 0;
616 foreach (float3 ff in cr.HullVertices)
617 {
618 verts[kk++] = ff;
619 }
620
621 // add to the array one hull's worth of data
622 convHulls[jj++] = cr.HullIndices.Count;
623 convHulls[jj++] = 0f; // centroid x,y,z
624 convHulls[jj++] = 0f;
625 convHulls[jj++] = 0f;
626 foreach (int ind in cr.HullIndices)
627 {
628 convHulls[jj++] = verts[ind].x;
629 convHulls[jj++] = verts[ind].y;
630 convHulls[jj++] = verts[ind].z;
631 }
632 }
633 // create the hull data structure in Bullet
634 hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
635 }
636
637 BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
638 newShape.shapeKey = newHullKey;
639
640 return newShape; // 'true' means a new shape has been added to this prim
641 }
642
643 // Callback from convex hull creater with a newly created hull.
644 // Just add it to our collection of hulls for this shape.
645 private void HullReturn(ConvexResult result)
646 {
647 m_hulls.Add(result);
648 return;
649 }
650
651 // Create a hash of all the shape parameters to be used as a key
652 // for this particular shape.
653 private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
654 {
655 // level of detail based on size and type of the object
656 float lod = PhysicsScene.MeshLOD;
657 if (pbs.SculptEntry)
658 lod = PhysicsScene.SculptLOD;
659
660 float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z));
661 if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
662 lod = PhysicsScene.MeshMegaPrimLOD;
663
664 retLod = lod;
665 return (ulong)pbs.GetMeshKey(shapeData.Size, lod);
666 }
667 // For those who don't want the LOD
668 private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
669 {
670 float lod;
671 return ComputeShapeKey(shapeData, pbs, out lod);
672 }
673
674 // Create a body object in Bullet.
675 // Updates prim.BSBody with the information about the new body if one is created.
676 // Returns 'true' if an object was actually created.
677 // Called at taint-time.
678 private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape,
679 ShapeData shapeData, BodyDestructionCallback bodyCallback)
680 {
681 bool ret = false;
682
683 // the mesh, hull or native shape must have already been created in Bullet
684 bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero);
685
686 // If there is an existing body, verify it's of an acceptable type.
687 // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
688 if (!mustRebuild)
689 {
690 CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.BSBody.ptr);
691 if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
692 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
693 {
694 // If the collisionObject is not the correct type for solidness, rebuild what's there
695 mustRebuild = true;
696 }
697
698 }
699
700 if (mustRebuild || forceRebuild)
701 {
702 DereferenceBody(prim.BSBody, true, bodyCallback);
703
704 BulletBody aBody;
705 IntPtr bodyPtr = IntPtr.Zero;
706 if (prim.IsSolid)
707 {
708 bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
709 shapeData.ID, shapeData.Position, shapeData.Rotation);
710 // DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
711 }
712 else
713 {
714 bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
715 shapeData.ID, shapeData.Position, shapeData.Rotation);
716 // DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
717 }
718 aBody = new BulletBody(shapeData.ID, bodyPtr);
719
720 ReferenceBody(aBody, true);
721
722 prim.BSBody = aBody;
723
724 ret = true;
725 }
726
727 return ret;
728 }
729
730 private void DetailLog(string msg, params Object[] args)
731 {
732 PhysicsScene.PhysicsLogging.Write(msg, args);
733 }
734}
735}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
new file mode 100755
index 0000000..70aa429
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -0,0 +1,493 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OpenSim.Framework;
32using OpenSim.Region.Framework;
33using OpenSim.Region.CoreModules;
34using OpenSim.Region.Physics.Manager;
35
36using Nini.Config;
37using log4net;
38
39using OpenMetaverse;
40
41namespace OpenSim.Region.Physics.BulletSPlugin
42{
43public class BSTerrainManager
44{
45 static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
46
47 // These height values are fractional so the odd values will be
48 // noticable when debugging.
49 public const float HEIGHT_INITIALIZATION = 24.987f;
50 public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
51 public const float HEIGHT_GETHEIGHT_RET = 24.765f;
52
53 // If the min and max height are equal, we reduce the min by this
54 // amount to make sure that a bounding box is built for the terrain.
55 public const float HEIGHT_EQUAL_FUDGE = 0.2f;
56
57 public const float TERRAIN_COLLISION_MARGIN = 0.0f;
58
59 // Until the whole simulator is changed to pass us the region size, we rely on constants.
60 public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
61
62 // The scene that I am part of
63 private BSScene PhysicsScene { get; set; }
64
65 // The ground plane created to keep thing from falling to infinity.
66 private BulletBody m_groundPlane;
67
68 // If doing mega-regions, if we're region zero we will be managing multiple
69 // region terrains since region zero does the physics for the whole mega-region.
70 private Dictionary<Vector2, BulletHeightMapInfo> m_heightMaps;
71
72 // True of the terrain has been modified.
73 // Used to force recalculation of terrain height after terrain has been modified
74 private bool m_terrainModified;
75
76 // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
77 // This is incremented before assigning to new region so it is the last ID allocated.
78 private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
79 public uint HighestTerrainID { get {return m_terrainCount; } }
80
81 // If doing mega-regions, this holds our offset from region zero of
82 // the mega-regions. "parentScene" points to the PhysicsScene of region zero.
83 private Vector3 m_worldOffset;
84 // If the parent region (region 0), this is the extent of the combined regions
85 // relative to the origin of region zero
86 private Vector3 m_worldMax;
87 private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
88
89 public BSTerrainManager(BSScene physicsScene)
90 {
91 PhysicsScene = physicsScene;
92 m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>();
93 m_terrainModified = false;
94
95 // Assume one region of default size
96 m_worldOffset = Vector3.Zero;
97 m_worldMax = new Vector3(DefaultRegionSize);
98 MegaRegionParentPhysicsScene = null;
99 }
100
101 // Create the initial instance of terrain and the underlying ground plane.
102 // The objects are allocated in the unmanaged space and the pointers are tracked
103 // by the managed code.
104 // The terrains and the groundPlane are not added to the list of PhysObjects.
105 // This is called from the initialization routine so we presume it is
106 // safe to call Bullet in real time. We hope no one is moving prims around yet.
107 public void CreateInitialGroundPlaneAndTerrain()
108 {
109 // The ground plane is here to catch things that are trying to drop to negative infinity
110 BulletShape groundPlaneShape = new BulletShape(
111 BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN),
112 ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE);
113 m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
114 BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
115 Vector3.Zero, Quaternion.Identity));
116 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
117 // Everything collides with the ground plane.
118 BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
119 (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
120
121 Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
122 Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION);
123 int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
124 float[] initialMap = new float[totalHeights];
125 for (int ii = 0; ii < totalHeights; ii++)
126 {
127 initialMap[ii] = HEIGHT_INITIALIZATION;
128 }
129 UpdateOrCreateTerrain(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords, true);
130 }
131
132 // Release all the terrain structures we might have allocated
133 public void ReleaseGroundPlaneAndTerrain()
134 {
135 if (m_groundPlane.ptr != IntPtr.Zero)
136 {
137 if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
138 {
139 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
140 }
141 m_groundPlane.ptr = IntPtr.Zero;
142 }
143
144 ReleaseTerrain();
145 }
146
147 // Release all the terrain we have allocated
148 public void ReleaseTerrain()
149 {
150 foreach (KeyValuePair<Vector2, BulletHeightMapInfo> kvp in m_heightMaps)
151 {
152 if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr))
153 {
154 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr);
155 BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr);
156 }
157 }
158 m_heightMaps.Clear();
159 }
160
161 // The simulator wants to set a new heightmap for the terrain.
162 public void SetTerrain(float[] heightMap) {
163 float[] localHeightMap = heightMap;
164 PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
165 {
166 if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
167 {
168 // If a child of a mega-region, we shouldn't have any terrain allocated for us
169 ReleaseGroundPlaneAndTerrain();
170 // If doing the mega-prim stuff and we are the child of the zero region,
171 // the terrain is added to our parent
172 if (MegaRegionParentPhysicsScene is BSScene)
173 {
174 DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
175 BSScene.DetailLogZero, m_worldOffset, m_worldMax);
176 ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
177 localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
178 }
179 }
180 else
181 {
182 // If not doing the mega-prim thing, just change the terrain
183 DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
184
185 UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap,
186 m_worldOffset, m_worldOffset + DefaultRegionSize, true);
187 }
188 });
189 }
190
191 // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
192 // based on the passed information. The 'id' should be either the terrain id or
193 // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
194 // The latter feature is for creating child terrains for mega-regions.
195 // If called with a mapInfo in m_heightMaps but the terrain has no body yet (mapInfo.terrainBody.Ptr == 0)
196 // then a new body and shape is created and the mapInfo is filled.
197 // This call is used for doing the initial terrain creation.
198 // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
199 // terrain shape is created and added to the body.
200 // This call is most often used to update the heightMap and parameters of the terrain.
201 // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when
202 // calling this routine from initialization or taint-time routines) or whether to delay
203 // all the unmanaged activities to taint-time.
204 private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime)
205 {
206 DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}",
207 BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime);
208
209 float minZ = float.MaxValue;
210 float maxZ = float.MinValue;
211 Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y);
212
213 int heightMapSize = heightMap.Length;
214 for (int ii = 0; ii < heightMapSize; ii++)
215 {
216 float height = heightMap[ii];
217 if (height < minZ) minZ = height;
218 if (height > maxZ) maxZ = height;
219 }
220
221 // The shape of the terrain is from its base to its extents.
222 minCoords.Z = minZ;
223 maxCoords.Z = maxZ;
224
225 BulletHeightMapInfo mapInfo;
226 if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo))
227 {
228 // If this is terrain we know about, it's easy to update
229
230 mapInfo.heightMap = heightMap;
231 mapInfo.minCoords = minCoords;
232 mapInfo.maxCoords = maxCoords;
233 mapInfo.minZ = minZ;
234 mapInfo.maxZ = maxZ;
235 mapInfo.sizeX = maxCoords.X - minCoords.X;
236 mapInfo.sizeY = maxCoords.Y - minCoords.Y;
237 DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
238 BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
239
240 BSScene.TaintCallback rebuildOperation = delegate()
241 {
242 if (MegaRegionParentPhysicsScene != null)
243 {
244 // It's possible that Combine() was called after this code was queued.
245 // If we are a child of combined regions, we don't create any terrain for us.
246 DetailLog("{0},UpdateOrCreateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
247
248 // Get rid of any terrain that may have been allocated for us.
249 ReleaseGroundPlaneAndTerrain();
250
251 // I hate doing this, but just bail
252 return;
253 }
254
255 if (mapInfo.terrainBody.ptr != IntPtr.Zero)
256 {
257 // Updating an existing terrain.
258 DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
259 BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
260
261 // Remove from the dynamics world because we're going to mangle this object
262 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
263
264 // Get rid of the old terrain
265 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
266 BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr);
267 mapInfo.Ptr = IntPtr.Zero;
268
269 /*
270 // NOTE: This routine is half here because I can't get the terrain shape replacement
271 // to work. In the short term, the above three lines completely delete the old
272 // terrain and the code below recreates one from scratch.
273 // Hopefully the Bullet community will help me out on this one.
274
275 // First, release the old collision shape (there is only one terrain)
276 BulletSimAPI.DeleteCollisionShape2(m_physicsScene.World.Ptr, mapInfo.terrainShape.Ptr);
277
278 // Fill the existing height map info with the new location and size information
279 BulletSimAPI.FillHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.ID,
280 mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
281
282 // Create a terrain shape based on the new info
283 mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr));
284
285 // Stuff the shape into the existing terrain body
286 BulletSimAPI.SetBodyShape2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr, mapInfo.terrainShape.Ptr);
287 */
288 }
289 // else
290 {
291 // Creating a new terrain.
292 DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}",
293 BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ);
294
295 mapInfo.ID = id;
296 mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID,
297 mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
298
299 // The terrain object initial position is at the center of the object
300 Vector3 centerPos;
301 centerPos.X = minCoords.X + (mapInfo.sizeX / 2f);
302 centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f);
303 centerPos.Z = minZ + ((maxZ - minZ) / 2f);
304
305 // Create the terrain shape from the mapInfo
306 mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
307 ShapeData.PhysicsShapeType.SHAPE_TERRAIN);
308
309 mapInfo.terrainBody = new BulletBody(mapInfo.ID,
310 BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr,
311 id, centerPos, Quaternion.Identity));
312 }
313
314 // Make sure the entry is in the heightmap table
315 m_heightMaps[terrainRegionBase] = mapInfo;
316
317 // Set current terrain attributes
318 BulletSimAPI.SetFriction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
319 BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
320 BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
321 BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
322
323 BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, 0f, Vector3.Zero);
324 BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr);
325
326 // Return the new terrain to the world of physical objects
327 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
328
329 // redo its bounding box now that it is in the world
330 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
331
332 BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr,
333 (uint)CollisionFilterGroups.TerrainFilter,
334 (uint)CollisionFilterGroups.TerrainMask);
335
336 // Make sure the new shape is processed.
337 // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
338 BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
339
340 m_terrainModified = true;
341 };
342
343 // There is the option to do the changes now (we're already in 'taint time'), or
344 // to do the Bullet operations later.
345 if (atTaintTime)
346 rebuildOperation();
347 else
348 PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
349 }
350 else
351 {
352 // We don't know about this terrain so either we are creating a new terrain or
353 // our mega-prim child is giving us a new terrain to add to the phys world
354
355 // if this is a child terrain, calculate a unique terrain id
356 uint newTerrainID = id;
357 if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
358 newTerrainID = ++m_terrainCount;
359
360 float[] heightMapX = heightMap;
361 Vector3 minCoordsX = minCoords;
362 Vector3 maxCoordsX = maxCoords;
363
364 DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}",
365 BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
366
367 // Code that must happen at taint-time
368 BSScene.TaintCallback createOperation = delegate()
369 {
370 DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y);
371 // Create a new mapInfo that will be filled with the new info
372 mapInfo = new BulletHeightMapInfo(id, heightMapX,
373 BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID,
374 minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN));
375 // Put the unfilled heightmap info into the collection of same
376 m_heightMaps.Add(terrainRegionBase, mapInfo);
377 // Build the terrain
378 UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true);
379
380 m_terrainModified = true;
381 };
382
383 // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time.
384 if (atTaintTime)
385 createOperation();
386 else
387 PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
388 }
389 }
390
391 // Someday we will have complex terrain with caves and tunnels
392 public float GetTerrainHeightAtXYZ(Vector3 loc)
393 {
394 // For the moment, it's flat and convex
395 return GetTerrainHeightAtXY(loc.X, loc.Y);
396 }
397
398 // Given an X and Y, find the height of the terrain.
399 // Since we could be handling multiple terrains for a mega-region,
400 // the base of the region is calcuated assuming all regions are
401 // the same size and that is the default.
402 // Once the heightMapInfo is found, we have all the information to
403 // compute the offset into the array.
404 private float lastHeightTX = 999999f;
405 private float lastHeightTY = 999999f;
406 private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
407 private float GetTerrainHeightAtXY(float tX, float tY)
408 {
409 // You'd be surprized at the number of times this routine is called
410 // with the same parameters as last time.
411 if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY)
412 return lastHeight;
413
414 lastHeightTX = tX;
415 lastHeightTY = tY;
416 float ret = HEIGHT_GETHEIGHT_RET;
417
418 int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
419 int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
420 Vector2 terrainBaseXY = new Vector2(offsetX, offsetY);
421
422 BulletHeightMapInfo mapInfo;
423 if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo))
424 {
425 float regionX = tX - offsetX;
426 float regionY = tY - offsetY;
427 int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX;
428 try
429 {
430 ret = mapInfo.heightMap[mapIndex];
431 }
432 catch
433 {
434 // Sometimes they give us wonky values of X and Y. Give a warning and return something.
435 PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
436 LogHeader, terrainBaseXY, regionX, regionY);
437 ret = HEIGHT_GETHEIGHT_RET;
438 }
439 // DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}",
440 // BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret);
441 }
442 else
443 {
444 PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
445 LogHeader, PhysicsScene.RegionName, tX, tY);
446 }
447 m_terrainModified = false;
448 lastHeight = ret;
449 return ret;
450 }
451
452 // Although no one seems to check this, I do support combining.
453 public bool SupportsCombining()
454 {
455 return true;
456 }
457
458 // This routine is called two ways:
459 // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum
460 // extent of the combined regions. This is to inform the parent of the size
461 // of the combined regions.
462 // and one with 'offset' as the offset of the child region to the base region,
463 // 'pScene' pointing to the parent and 'extents' of zero. This informs the
464 // child of its relative base and new parent.
465 public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
466 {
467 m_worldOffset = offset;
468 m_worldMax = extents;
469 MegaRegionParentPhysicsScene = pScene;
470 if (pScene != null)
471 {
472 // We are a child.
473 // We want m_worldMax to be the highest coordinate of our piece of terrain.
474 m_worldMax = offset + DefaultRegionSize;
475 }
476 DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}",
477 BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax);
478 }
479
480 // Unhook all the combining that I know about.
481 public void UnCombine(PhysicsScene pScene)
482 {
483 // Just like ODE, for the moment a NOP
484 DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
485 }
486
487
488 private void DetailLog(string msg, params Object[] args)
489 {
490 PhysicsScene.PhysicsLogging.Write(msg, args);
491 }
492}
493}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 504bd3c..1125d7e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -33,38 +33,154 @@ using OpenMetaverse;
33namespace OpenSim.Region.Physics.BulletSPlugin { 33namespace OpenSim.Region.Physics.BulletSPlugin {
34 34
35// Classes to allow some type checking for the API 35// Classes to allow some type checking for the API
36// These hold pointers to allocated objects in the unmanaged space.
37
38// The physics engine controller class created at initialization
36public struct BulletSim 39public struct BulletSim
37{ 40{
38 public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; } 41 public BulletSim(uint worldId, BSScene bss, IntPtr xx)
39 public uint ID; 42 {
43 ptr = xx;
44 worldID = worldId;
45 physicsScene = bss;
46 }
47 public IntPtr ptr;
48 public uint worldID;
40 // The scene is only in here so very low level routines have a handle to print debug/error messages 49 // The scene is only in here so very low level routines have a handle to print debug/error messages
41 public BSScene scene; 50 public BSScene physicsScene;
42 public IntPtr Ptr;
43} 51}
44 52
53// An allocated Bullet btRigidBody
45public struct BulletBody 54public struct BulletBody
46{ 55{
47 public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } 56 public BulletBody(uint id, IntPtr xx)
48 public IntPtr Ptr; 57 {
58 ID = id;
59 ptr = xx;
60 collisionFilter = 0;
61 collisionMask = 0;
62 }
63 public IntPtr ptr;
49 public uint ID; 64 public uint ID;
65 public CollisionFilterGroups collisionFilter;
66 public CollisionFilterGroups collisionMask;
67 public override string ToString()
68 {
69 StringBuilder buff = new StringBuilder();
70 buff.Append("<id=");
71 buff.Append(ID.ToString());
72 buff.Append(",p=");
73 buff.Append(ptr.ToString("X"));
74 if (collisionFilter != 0 && collisionMask != 0)
75 {
76 buff.Append(",f=");
77 buff.Append(collisionFilter.ToString("X"));
78 buff.Append(",m=");
79 buff.Append(collisionMask.ToString("X"));
80 }
81 buff.Append(">");
82 return buff.ToString();
83 }
84}
85
86public struct BulletShape
87{
88 public BulletShape(IntPtr xx)
89 {
90 ptr = xx;
91 type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
92 shapeKey = 0;
93 isNativeShape = false;
94 }
95 public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
96 {
97 ptr = xx;
98 type = typ;
99 shapeKey = 0;
100 isNativeShape = false;
101 }
102 public IntPtr ptr;
103 public ShapeData.PhysicsShapeType type;
104 public ulong shapeKey;
105 public bool isNativeShape;
106 // Hulls have an underlying mesh. A pointer to it is hidden here.
107 public override string ToString()
108 {
109 StringBuilder buff = new StringBuilder();
110 buff.Append("<p=");
111 buff.Append(ptr.ToString("X"));
112 buff.Append(",s=");
113 buff.Append(type.ToString());
114 buff.Append(",k=");
115 buff.Append(shapeKey.ToString("X"));
116 buff.Append(",n=");
117 buff.Append(isNativeShape.ToString());
118 buff.Append(">");
119 return buff.ToString();
120 }
50} 121}
51 122
123 // Constraint type values as defined by Bullet
124public enum ConstraintType : int
125{
126 POINT2POINT_CONSTRAINT_TYPE = 3,
127 HINGE_CONSTRAINT_TYPE,
128 CONETWIST_CONSTRAINT_TYPE,
129 D6_CONSTRAINT_TYPE,
130 SLIDER_CONSTRAINT_TYPE,
131 CONTACT_CONSTRAINT_TYPE,
132 D6_SPRING_CONSTRAINT_TYPE,
133 MAX_CONSTRAINT_TYPE
134}
135
136// An allocated Bullet btConstraint
52public struct BulletConstraint 137public struct BulletConstraint
53{ 138{
54 public BulletConstraint(IntPtr xx) { Ptr = xx; } 139 public BulletConstraint(IntPtr xx)
140 {
141 ptr = xx;
142 }
143 public IntPtr ptr;
144}
145
146// An allocated HeightMapThing which holds various heightmap info.
147// Made a class rather than a struct so there would be only one
148// instance of this and C# will pass around pointers rather
149// than making copies.
150public class BulletHeightMapInfo
151{
152 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
153 ID = id;
154 Ptr = xx;
155 heightMap = hm;
156 terrainRegionBase = new Vector2(0f, 0f);
157 minCoords = new Vector3(100f, 100f, 25f);
158 maxCoords = new Vector3(101f, 101f, 26f);
159 minZ = maxZ = 0f;
160 sizeX = sizeY = 256f;
161 }
162 public uint ID;
55 public IntPtr Ptr; 163 public IntPtr Ptr;
164 public float[] heightMap;
165 public Vector2 terrainRegionBase;
166 public Vector3 minCoords;
167 public Vector3 maxCoords;
168 public float sizeX, sizeY;
169 public float minZ, maxZ;
170 public BulletShape terrainShape;
171 public BulletBody terrainBody;
56} 172}
57 173
58// =============================================================================== 174// ===============================================================================
59[StructLayout(LayoutKind.Sequential)] 175[StructLayout(LayoutKind.Sequential)]
60public struct ConvexHull 176public struct ConvexHull
61{ 177{
62 Vector3 Offset; 178 Vector3 Offset;
63 int VertexCount; 179 int VertexCount;
64 Vector3[] Vertices; 180 Vector3[] Vertices;
65} 181}
66[StructLayout(LayoutKind.Sequential)] 182[StructLayout(LayoutKind.Sequential)]
67public struct ShapeData 183public struct ShapeData
68{ 184{
69 public enum PhysicsShapeType 185 public enum PhysicsShapeType
70 { 186 {
@@ -75,7 +191,9 @@ public struct ShapeData
75 SHAPE_CYLINDER = 4, 191 SHAPE_CYLINDER = 4,
76 SHAPE_SPHERE = 5, 192 SHAPE_SPHERE = 5,
77 SHAPE_MESH = 6, 193 SHAPE_MESH = 6,
78 SHAPE_HULL = 7 194 SHAPE_HULL = 7,
195 SHAPE_GROUNDPLANE = 8,
196 SHAPE_TERRAIN = 9,
79 }; 197 };
80 public uint ID; 198 public uint ID;
81 public PhysicsShapeType Type; 199 public PhysicsShapeType Type;
@@ -91,13 +209,24 @@ public struct ShapeData
91 public float Restitution; 209 public float Restitution;
92 public float Collidable; // true of things bump into this 210 public float Collidable; // true of things bump into this
93 public float Static; // true if a static object. Otherwise gravity, etc. 211 public float Static; // true if a static object. Otherwise gravity, etc.
212 public float Solid; // true if object cannot be passed through
213 public Vector3 Size;
94 214
95 // note that bools are passed as floats since bool size changes by language and architecture 215 // note that bools are passed as floats since bool size changes by language and architecture
96 public const float numericTrue = 1f; 216 public const float numericTrue = 1f;
97 public const float numericFalse = 0f; 217 public const float numericFalse = 0f;
218
219 // The native shapes have predefined shape hash keys
220 public enum FixedShapeKey : ulong
221 {
222 KEY_BOX = 1,
223 KEY_SPHERE = 2,
224 KEY_CONE = 3,
225 KEY_CYLINDER = 4,
226 }
98} 227}
99[StructLayout(LayoutKind.Sequential)] 228[StructLayout(LayoutKind.Sequential)]
100public struct SweepHit 229public struct SweepHit
101{ 230{
102 public uint ID; 231 public uint ID;
103 public float Fraction; 232 public float Fraction;
@@ -174,12 +303,36 @@ public struct ConfigurationParameters
174 public float linkConstraintTransMotorMaxForce; 303 public float linkConstraintTransMotorMaxForce;
175 public float linkConstraintERP; 304 public float linkConstraintERP;
176 public float linkConstraintCFM; 305 public float linkConstraintCFM;
306 public float linkConstraintSolverIterations;
177 307
178 public const float numericTrue = 1f; 308 public const float numericTrue = 1f;
179 public const float numericFalse = 0f; 309 public const float numericFalse = 0f;
180} 310}
181 311
182// Values used by Bullet and BulletSim to control collisions 312
313// The states a bullet collision object can have
314public enum ActivationState : uint
315{
316 ACTIVE_TAG = 1,
317 ISLAND_SLEEPING,
318 WANTS_DEACTIVATION,
319 DISABLE_DEACTIVATION,
320 DISABLE_SIMULATION,
321}
322
323public enum CollisionObjectTypes : int
324{
325 CO_COLLISION_OBJECT = 1 << 0,
326 CO_RIGID_BODY = 1 << 1,
327 CO_GHOST_OBJECT = 1 << 2,
328 CO_SOFT_BODY = 1 << 3,
329 CO_HF_FLUID = 1 << 4,
330 CO_USER_TYPE = 1 << 5,
331}
332
333// Values used by Bullet and BulletSim to control object properties.
334// Bullet's "CollisionFlags" has more to do with operations on the
335// object (if collisions happen, if gravity effects it, ...).
183public enum CollisionFlags : uint 336public enum CollisionFlags : uint
184{ 337{
185 CF_STATIC_OBJECT = 1 << 0, 338 CF_STATIC_OBJECT = 1 << 0,
@@ -191,11 +344,61 @@ public enum CollisionFlags : uint
191 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, 344 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
192 // Following used by BulletSim to control collisions 345 // Following used by BulletSim to control collisions
193 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, 346 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
194 BS_VOLUME_DETECT_OBJECT = 1 << 11, 347 // BS_VOLUME_DETECT_OBJECT = 1 << 11,
195 BS_PHANTOM_OBJECT = 1 << 12, 348 // BS_PHANTOM_OBJECT = 1 << 12,
196 BS_PHYSICAL_OBJECT = 1 << 13, 349 // BS_PHYSICAL_OBJECT = 1 << 13,
350 // BS_TERRAIN_OBJECT = 1 << 14,
351 BS_NONE = 0,
352 BS_ALL = 0xFFFFFFFF,
353
354 // These are the collision flags switched depending on physical state.
355 // The other flags are used for other things and should not be fooled with.
356 BS_ACTIVE = CF_STATIC_OBJECT
357 | CF_KINEMATIC_OBJECT
358 | CF_NO_CONTACT_RESPONSE
359 // | BS_VOLUME_DETECT_OBJECT
360 // | BS_PHANTOM_OBJECT
361 // | BS_PHYSICAL_OBJECT,
362};
363
364// Values for collisions groups and masks
365public enum CollisionFilterGroups : uint
366{
367 // Don't use the bit definitions!! Define the use in a
368 // filter/mask definition below. This way collision interactions
369 // are more easily debugged.
370 BNoneFilter = 0,
371 BDefaultFilter = 1 << 0,
372 BStaticFilter = 1 << 1,
373 BKinematicFilter = 1 << 2,
374 BDebrisFilter = 1 << 3,
375 BSensorTrigger = 1 << 4,
376 BCharacterFilter = 1 << 5,
377 BAllFilter = 0xFFFFFFFF,
378 // Filter groups defined by BulletSim
379 BGroundPlaneFilter = 1 << 10,
380 BTerrainFilter = 1 << 11,
381 BRaycastFilter = 1 << 12,
382 BSolidFilter = 1 << 13,
383
384 // The collsion filters and masked are defined in one place -- don't want them scattered
385 AvatarFilter = BCharacterFilter,
386 AvatarMask = BAllFilter,
387 ObjectFilter = BSolidFilter,
388 ObjectMask = BAllFilter,
389 StaticObjectFilter = BStaticFilter,
390 StaticObjectMask = BAllFilter,
391 VolumeDetectFilter = BSensorTrigger,
392 VolumeDetectMask = ~BSensorTrigger,
393 TerrainFilter = BTerrainFilter,
394 TerrainMask = BAllFilter & ~BStaticFilter,
395 GroundPlaneFilter = BAllFilter,
396 GroundPlaneMask = BAllFilter
397
197}; 398};
198 399
400
401
199// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 402// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
200// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. 403// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
201public enum ConstraintParams : int 404public enum ConstraintParams : int
@@ -221,14 +424,22 @@ public enum ConstraintParamAxis : int
221// =============================================================================== 424// ===============================================================================
222static class BulletSimAPI { 425static class BulletSimAPI {
223 426
427// Link back to the managed code for outputting log messages
428[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
429public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
430
224[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 431[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
225[return: MarshalAs(UnmanagedType.LPStr)] 432[return: MarshalAs(UnmanagedType.LPStr)]
226public static extern string GetVersion(); 433public static extern string GetVersion();
227 434
228[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 435[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
229public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, 436public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
230 int maxCollisions, IntPtr collisionArray, 437 int maxCollisions, IntPtr collisionArray,
231 int maxUpdates, IntPtr updateArray); 438 int maxUpdates, IntPtr updateArray,
439 DebugLogCallback logRoutine);
440
441[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
442public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
232 443
233[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 444[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
234public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); 445public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
@@ -242,19 +453,19 @@ public static extern bool UpdateParameter(uint worldID, uint localID,
242 453
243// =============================================================================== 454// ===============================================================================
244[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 455[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
245public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, 456public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
246 out int updatedEntityCount, 457 out int updatedEntityCount,
247 out IntPtr updatedEntitiesPtr, 458 out IntPtr updatedEntitiesPtr,
248 out int collidersCount, 459 out int collidersCount,
249 out IntPtr collidersPtr); 460 out IntPtr collidersPtr);
250 461
251[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 462[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
252public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, 463public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
253 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls 464 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
254 ); 465 );
255 466
256[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 467[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
257public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, 468public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
258 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, 469 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
259 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices 470 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
260 ); 471 );
@@ -268,23 +479,6 @@ public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
268[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 479[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
269public static extern bool CreateObject(uint worldID, ShapeData shapeData); 480public static extern bool CreateObject(uint worldID, ShapeData shapeData);
270 481
271/* Remove old functionality
272[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
273public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
274
275[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
276public static extern void AddConstraint(uint worldID, uint id1, uint id2,
277 Vector3 frame1, Quaternion frame1rot,
278 Vector3 frame2, Quaternion frame2rot,
279 Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
280
281[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
282public static extern bool RemoveConstraintByID(uint worldID, uint id1);
283
284[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
285public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
286 */
287
288[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 482[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
289public static extern Vector3 GetObjectPosition(uint WorldID, uint id); 483public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
290 484
@@ -300,6 +494,7 @@ public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 veloc
300[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 494[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
301public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); 495public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
302 496
497// Set the current force acting on the object
303[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 498[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
304public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); 499public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
305 500
@@ -342,8 +537,6 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
342public static extern void DumpBulletStatistics(); 537public static extern void DumpBulletStatistics();
343 538
344// Log a debug message 539// Log a debug message
345[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
346public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
347[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 540[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
348public static extern void SetDebugLogCallback(DebugLogCallback callback); 541public static extern void SetDebugLogCallback(DebugLogCallback callback);
349 542
@@ -358,6 +551,7 @@ public static extern void SetDebugLogCallback(DebugLogCallback callback);
358// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt 551// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
359// and the old code is removed. 552// and the old code is removed.
360 553
554// Functions use while converting from API1 to API2. Can be removed when totally converted.
361[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 555[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
362public static extern IntPtr GetSimHandle2(uint worldID); 556public static extern IntPtr GetSimHandle2(uint worldID);
363 557
@@ -368,6 +562,7 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
368public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); 562public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
369 563
370// =============================================================================== 564// ===============================================================================
565// Initialization and simulation
371[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 566[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
372public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, 567public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
373 int maxCollisions, IntPtr collisionArray, 568 int maxCollisions, IntPtr collisionArray,
@@ -377,14 +572,14 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
377public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); 572public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
378 573
379[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 574[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
380public static extern void SetHeightmap2(IntPtr world, float[] heightmap); 575public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
381 576
382[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 577[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
383public static extern void Shutdown2(IntPtr sim); 578public static extern void Shutdown2(IntPtr sim);
384 579
385[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 580[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
386public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, 581public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
387 out int updatedEntityCount, 582 out int updatedEntityCount,
388 out IntPtr updatedEntitiesPtr, 583 out IntPtr updatedEntitiesPtr,
389 out int collidersCount, 584 out int collidersCount,
390 out IntPtr collidersPtr); 585 out IntPtr collidersPtr);
@@ -392,24 +587,87 @@ public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSt
392[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 587[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
393public static extern bool PushUpdate2(IntPtr obj); 588public static extern bool PushUpdate2(IntPtr obj);
394 589
395/* 590// =====================================================================================
591// Mesh, hull, shape and body creation helper routines
396[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 592[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
397public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices ); 593public static extern IntPtr CreateMeshShape2(IntPtr world,
594 int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
595 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
398 596
399[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 597[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
400public static extern bool BuildHull2(IntPtr world, IntPtr mesh); 598public static extern IntPtr CreateHullShape2(IntPtr world,
599 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
401 600
402[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 601[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
403public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh); 602public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
404 603
405[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 604[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
406public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh); 605public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
407 606
408[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 607[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
409public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData); 608public static extern bool IsNativeShape2(IntPtr shape);
410*/
411 609
412[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 610[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
611public static extern IntPtr CreateCompoundShape2(IntPtr sim);
612
613[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
614public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
615
616[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
617public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
618
619[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
620public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
621
622[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
623public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
624
625[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
626public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
627
628[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
629public static extern int GetBodyType2(IntPtr obj);
630
631[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
632public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
633
634[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
635public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
636
637[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
638public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
639
640[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
641public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
642
643[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
644public static extern void ReleaseBodyInfo2(IntPtr obj);
645
646[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
647public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
648
649// =====================================================================================
650// Terrain creation and helper routines
651[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
652public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
653 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
654
655[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
656public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
657 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
658
659[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
660public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
661
662[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
663public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
664
665[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
666public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
667
668// =====================================================================================
669// Constraint creation and helper routines
670[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
413public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, 671public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
414 Vector3 frame1loc, Quaternion frame1rot, 672 Vector3 frame1loc, Quaternion frame1rot,
415 Vector3 frame2loc, Quaternion frame2rot, 673 Vector3 frame2loc, Quaternion frame2rot,
@@ -433,7 +691,7 @@ public static extern void SetConstraintEnable2(IntPtr constrain, float numericTr
433public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); 691public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
434 692
435[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 693[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
436public static extern bool SetFrames2(IntPtr constrain, 694public static extern bool SetFrames2(IntPtr constrain,
437 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); 695 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
438 696
439[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 697[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -460,11 +718,108 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams
460[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 718[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
461public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); 719public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
462 720
721// =====================================================================================
722// btCollisionWorld entries
723[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
724public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
725
726[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
727public static extern void UpdateAabbs2(IntPtr world);
728
729[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
730public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
731
732[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
733public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
734
735// =====================================================================================
736// btDynamicsWorld entries
463[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 737[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
464public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj); 738public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
465 739
466[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 740[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
467public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj); 741public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
742
743[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
744public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
745
746[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
747public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
748// =====================================================================================
749// btCollisionObject entries
750[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
751public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
752
753[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
754public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
755
756[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
757public static extern bool HasAnisotripicFriction2(IntPtr constrain);
758
759[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
760public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
761
762[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
763public static extern float GetContactProcessingThreshold2(IntPtr obj);
764
765[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
766public static extern bool IsStaticObject2(IntPtr obj);
767
768[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
769public static extern bool IsKinematicObject2(IntPtr obj);
770
771[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
772public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
773
774[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
775public static extern bool HasContactResponse2(IntPtr obj);
776
777[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
778public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
779
780[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
781public static extern IntPtr GetCollisionShape2(IntPtr obj);
782
783[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
784public static extern int GetActivationState2(IntPtr obj);
785
786[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
787public static extern void SetActivationState2(IntPtr obj, int state);
788
789[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
790public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
791
792[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
793public static extern float GetDeactivationTime2(IntPtr obj);
794
795[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
796public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
797
798[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
799public static extern void Activate2(IntPtr obj, bool forceActivation);
800
801[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
802public static extern bool IsActive2(IntPtr obj);
803
804[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
805public static extern void SetRestitution2(IntPtr obj, float val);
806
807[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
808public static extern float GetRestitution2(IntPtr obj);
809
810[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
811public static extern void SetFriction2(IntPtr obj, float val);
812
813[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
814public static extern float GetFriction2(IntPtr obj);
815
816 /* Haven't defined the type 'Transform'
817[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
818public static extern Transform GetWorldTransform2(IntPtr obj);
819
820[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
821public static extern void setWorldTransform2(IntPtr obj, Transform trans);
822 */
468 823
469[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 824[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
470public static extern Vector3 GetPosition2(IntPtr obj); 825public static extern Vector3 GetPosition2(IntPtr obj);
@@ -473,85 +828,293 @@ public static extern Vector3 GetPosition2(IntPtr obj);
473public static extern Quaternion GetOrientation2(IntPtr obj); 828public static extern Quaternion GetOrientation2(IntPtr obj);
474 829
475[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 830[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
476public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); 831public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
477 832
478[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 833[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
479public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); 834public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
480 835
481[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 836[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
482public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); 837public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
483 838
839 /*
484[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 840[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
485public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); 841public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
486 842
487[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 843[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
488public static extern bool AddObjectForce2(IntPtr obj, Vector3 force); 844public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
845 */
489 846
490[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 847[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
491public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); 848public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
492 849
493[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 850[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
494public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); 851public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
495 852
496[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 853[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
497public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); 854public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
498 855
499[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 856[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
500public static extern bool SetDeactivationTime2(IntPtr obj, float val); 857public static extern float GetHitFraction2(IntPtr obj);
501 858
502[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 859[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
503public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); 860public static extern void SetHitFraction2(IntPtr obj, float val);
504 861
505[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 862[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
506public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); 863public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
507 864
508[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 865[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
509public static extern bool SetFriction2(IntPtr obj, float val); 866public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
510 867
511[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 868[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
512public static extern bool SetRestitution2(IntPtr obj, float val); 869public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
513 870
514[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 871[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
515public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); 872public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
516 873
517[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 874[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
518public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); 875public static extern float GetCcdMotionThreshold2(IntPtr obj);
519 876
520[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 877[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
521public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); 878public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
879
880[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
881public static extern float GetCcdSweepSphereRadius2(IntPtr obj);
882
883[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
884public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val);
885
886[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
887public static extern IntPtr GetUserPointer2(IntPtr obj);
888
889[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
890public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
891
892// =====================================================================================
893// btRigidBody entries
894[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
895public static extern void ApplyGravity2(IntPtr obj);
896
897[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
898public static extern void SetGravity2(IntPtr obj, Vector3 val);
899
900[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
901public static extern Vector3 GetGravity2(IntPtr obj);
902
903[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
904public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
905
906[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
907public static extern float GetLinearDamping2(IntPtr obj);
908
909[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
910public static extern float GetAngularDamping2(IntPtr obj);
911
912[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
913public static extern float GetLinearSleepingThreshold2(IntPtr obj);
914
915[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
916public static extern float GetAngularSleepingThreshold2(IntPtr obj);
917
918[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
919public static extern void ApplyDamping2(IntPtr obj, float timeStep);
920
921[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
922public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
923
924[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
925public static extern Vector3 GetLinearFactor2(IntPtr obj);
926
927[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
928public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
929
930 /*
931[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
932public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
933 */
934
935[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
936public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
937
938// Add a force to the object as if its mass is one.
939[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
940public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
941
942// Set the force being applied to the object as if its mass is one.
943[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
944public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
945
946[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
947public static extern Vector3 GetTotalForce2(IntPtr obj);
948
949[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
950public static extern Vector3 GetTotalTorque2(IntPtr obj);
951
952[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
953public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
954
955[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
956public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
957
958[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
959public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
960
961[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
962public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
963
964// Apply force at the given point. Will add torque to the object.
965[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
966public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
967
968// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
969[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
970public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
971
972// Apply impulse to the object's torque. Force is scaled by object's mass.
973[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
974public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
975
976// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
977[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
978public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
979
980[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
981public static extern void ClearForces2(IntPtr obj);
982
983[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
984public static extern void ClearAllForces2(IntPtr obj);
985
986[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
987public static extern void UpdateInertiaTensor2(IntPtr obj);
988
989[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
990public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
991
992 /*
993[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
994public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
995 */
996
997[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
998public static extern Vector3 GetLinearVelocity2(IntPtr obj);
999
1000[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1001public static extern Vector3 GetAngularVelocity2(IntPtr obj);
1002
1003[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1004public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
1005
1006[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1007public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
1008
1009[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1010public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
1011
1012[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1013public static extern void Translate2(IntPtr obj, Vector3 trans);
1014
1015[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1016public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
1017
1018[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1019public static extern bool WantsSleeping2(IntPtr obj);
1020
1021[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1022public static extern void SetAngularFactor2(IntPtr obj, float factor);
1023
1024[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1025public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
1026
1027[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1028public static extern Vector3 GetAngularFactor2(IntPtr obj);
1029
1030[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1031public static extern bool IsInWorld2(IntPtr obj);
1032
1033[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1034public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
1035
1036[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1037public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
1038
1039[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1040public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
1041
1042[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1043public static extern int GetNumConstraintRefs2(IntPtr obj);
1044
1045[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1046public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj);
1047
1048[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1049public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj);
1050
1051[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1052public static extern Vector3 GetPushVelocity2(IntPtr obj);
1053
1054[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1055public static extern Vector3 GetTurnVelocity2(IntPtr obj);
1056
1057[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1058public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
1059
1060// =====================================================================================
1061// btCollisionShape entries
1062
1063[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1064public static extern float GetAngularMotionDisc2(IntPtr shape);
1065
1066[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1067public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
1068
1069[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1070public static extern bool IsPolyhedral2(IntPtr shape);
1071
1072[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1073public static extern bool IsConvex2d2(IntPtr shape);
1074
1075[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1076public static extern bool IsConvex2(IntPtr shape);
1077
1078[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1079public static extern bool IsNonMoving2(IntPtr shape);
1080
1081[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1082public static extern bool IsConcave2(IntPtr shape);
522 1083
523[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1084[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
524public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags); 1085public static extern bool IsCompound2(IntPtr shape);
525 1086
526[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1087[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
527public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); 1088public static extern bool IsSoftBody2(IntPtr shape);
528 1089
529[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1090[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
530public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); 1091public static extern bool IsInfinite2(IntPtr shape);
531 1092
532[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1093[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
533public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); 1094public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
534 1095
535[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1096[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
536public static extern bool UpdateInertiaTensor2(IntPtr obj); 1097public static extern Vector3 GetLocalScaling2(IntPtr shape);
537 1098
538[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1099[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
539public static extern bool SetGravity2(IntPtr obj, Vector3 val); 1100public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
540 1101
541[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1102[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
542public static extern IntPtr ClearForces2(IntPtr obj); 1103public static extern int GetShapeType2(IntPtr shape);
543 1104
544[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1105[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
545public static extern IntPtr ClearAllForces2(IntPtr obj); 1106public static extern void SetMargin2(IntPtr shape, float val);
546 1107
547[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1108[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
548public static extern bool SetMargin2(IntPtr obj, float val); 1109public static extern float GetMargin2(IntPtr shape);
549 1110
1111// =====================================================================================
1112// Debugging
550[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1113[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
551public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); 1114public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
552 1115
553[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1116[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
554public static extern bool DestroyObject2(IntPtr world, uint id); 1117public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
555 1118
556[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1119[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
557public static extern void DumpPhysicsStatistics2(IntPtr sim); 1120public static extern void DumpPhysicsStatistics2(IntPtr sim);
generated by cgit v1.1 at 2024-12-22 13:32:09 +0000