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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs58
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs549
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs43
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs618
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs112
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs445
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs218
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs1157
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs774
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs756
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs492
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs716
13 files changed, 3979 insertions, 1963 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..2e6b2da 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);
114
115 // Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
116 // If not set at creation, the avatar will stop flying when created after crossing a region boundry.
117 BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
118
119 BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
128 120
129 m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); 121 // This works here because CreateObject has already put the character into the physical world.
130 // avatars get all collisions no matter what 122 BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
131 BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 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
@@ -149,274 +140,368 @@ 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 }
220 }
221 public override OMV.Vector3 ForcePosition {
222 get {
223 _position = BulletSimAPI.GetPosition2(BSBody.ptr);
224 return _position;
225 }
226 set {
227 _position = value;
228 PositionSanityCheck();
229 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
230 }
216 } 231 }
217 232
233
218 // Check that the current position is sane and, if not, modify the position to make it so. 234 // Check that the current position is sane and, if not, modify the position to make it so.
219 // Check for being below terrain and being out of bounds. 235 // Check for being below terrain and being out of bounds.
220 // Returns 'true' of the position was made sane by some action. 236 // Returns 'true' of the position was made sane by some action.
221 private bool PositionSanityCheck() 237 private bool PositionSanityCheck()
222 { 238 {
223 bool ret = false; 239 bool ret = false;
224 240
225 // If below the ground, move the avatar up 241 // If below the ground, move the avatar up
226 float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position); 242 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
227 if (_position.Z < terrainHeight) 243 if (Position.Z < terrainHeight)
228 { 244 {
229 DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation); 245 DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
230 _position.Z = terrainHeight + 2.0f; 246 _position.Z = terrainHeight + 2.0f;
231 ret = true; 247 ret = true;
232 } 248 }
249 if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
250 {
251 float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
252 if (Position.Z < waterHeight)
253 {
254 _position.Z = waterHeight;
255 ret = true;
256 }
257 }
233 258
234 // TODO: check for out of bounds 259 // TODO: check for out of bounds
260 return ret;
261 }
235 262
263 // A version of the sanity check that also makes sure a new position value is
264 // pushed back to the physics engine. This routine would be used by anyone
265 // who is not already pushing the value.
266 private bool PositionSanityCheck2(bool inTaintTime)
267 {
268 bool ret = false;
269 if (PositionSanityCheck())
270 {
271 // The new position value must be pushed into the physics engine but we can't
272 // just assign to "Position" because of potential call loops.
273 BSScene.TaintCallback sanityOperation = delegate()
274 {
275 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
276 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
277 };
278 if (inTaintTime)
279 sanityOperation();
280 else
281 PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation);
282 ret = true;
283 }
236 return ret; 284 return ret;
237 } 285 }
238 286
239 public override float Mass { 287 public override float Mass {
240 get { 288 get {
241 return _mass; 289 return _mass;
242 } 290 }
243 } 291 }
244 public override Vector3 Force { 292
245 get { return _force; } 293 // used when we only want this prim's mass and not the linkset thing
294 public override float MassRaw { get {return _mass; } }
295
296 public override OMV.Vector3 Force {
297 get { return _force; }
246 set { 298 set {
247 _force = value; 299 _force = value;
248 // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); 300 // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
249 Scene.TaintedObject("BSCharacter.SetForce", delegate() 301 PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
250 { 302 {
251 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); 303 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
252 BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force); 304 BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force);
253 }); 305 });
254 } 306 }
255 } 307 }
256 308
257 public override int VehicleType { 309 public override int VehicleType {
258 get { return 0; } 310 get { return 0; }
259 set { return; } 311 set { return; }
260 } 312 }
261 public override void VehicleFloatParam(int param, float value) { } 313 public override void VehicleFloatParam(int param, float value) { }
262 public override void VehicleVectorParam(int param, Vector3 value) {} 314 public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
263 public override void VehicleRotationParam(int param, Quaternion rotation) { } 315 public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
264 public override void VehicleFlags(int param, bool remove) { } 316 public override void VehicleFlags(int param, bool remove) { }
265 317
266 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more 318 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
267 public override void SetVolumeDetect(int param) { return; } 319 public override void SetVolumeDetect(int param) { return; }
268 320
269 public override Vector3 GeometricCenter { get { return Vector3.Zero; } } 321 public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
270 public override Vector3 CenterOfMass { get { return Vector3.Zero; } } 322 public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
271 public override Vector3 Velocity { 323 public override OMV.Vector3 Velocity {
272 get { return _velocity; } 324 get { return _velocity; }
273 set { 325 set {
274 _velocity = value; 326 _velocity = value;
275 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); 327 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
276 _scene.TaintedObject("BSCharacter.setVelocity", delegate() 328 PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
277 { 329 {
278 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); 330 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
279 BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); 331 BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
280 }); 332 });
281 } 333 }
282 } 334 }
283 public override Vector3 Torque { 335 public override OMV.Vector3 ForceVelocity {
284 get { return _torque; } 336 get { return _velocity; }
285 set { _torque = value; 337 set {
286 } 338 _velocity = value;
339 BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
340 }
287 } 341 }
288 public override float CollisionScore { 342 public override OMV.Vector3 Torque {
289 get { return _collisionScore; } 343 get { return _torque; }
290 set { _collisionScore = value; 344 set { _torque = value;
291 } 345 }
346 }
347 public override float CollisionScore {
348 get { return _collisionScore; }
349 set { _collisionScore = value;
350 }
292 } 351 }
293 public override Vector3 Acceleration { 352 public override OMV.Vector3 Acceleration {
294 get { return _acceleration; } 353 get { return _acceleration; }
295 set { _acceleration = value; } 354 set { _acceleration = value; }
296 } 355 }
297 public override Quaternion Orientation { 356 public override OMV.Quaternion Orientation {
298 get { return _orientation; } 357 get { return _orientation; }
299 set { 358 set {
300 _orientation = value; 359 _orientation = value;
301 // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); 360 // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
302 _scene.TaintedObject("BSCharacter.setOrientation", delegate() 361 PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
303 { 362 {
304 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 363 // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
305 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 364 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
306 }); 365 });
307 } 366 }
367 }
368 // Go directly to Bullet to get/set the value.
369 public override OMV.Quaternion ForceOrientation
370 {
371 get
372 {
373 _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
374 return _orientation;
375 }
376 set
377 {
378 _orientation = value;
379 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
380 }
308 } 381 }
309 public override int PhysicsActorType { 382 public override int PhysicsActorType {
310 get { return _physicsActorType; } 383 get { return _physicsActorType; }
311 set { _physicsActorType = value; 384 set { _physicsActorType = value;
312 } 385 }
313 } 386 }
314 public override bool IsPhysical { 387 public override bool IsPhysical {
315 get { return _isPhysical; } 388 get { return _isPhysical; }
316 set { _isPhysical = value; 389 set { _isPhysical = value;
317 } 390 }
318 } 391 }
319 public override bool Flying { 392 public override bool Flying {
320 get { return _flying; } 393 get { return _flying; }
321 set { 394 set {
322 if (_flying != value) 395 _flying = value;
323 { 396 // simulate flying by changing the effect of gravity
324 _flying = value; 397 this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
325 // simulate flying by changing the effect of gravity 398 }
326 this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
327 }
328 }
329 } 399 }
400 // Flying is implimented by changing the avatar's buoyancy.
401 // Would this be done better with a vehicle type?
330 private float ComputeBuoyancyFromFlying(bool ifFlying) { 402 private float ComputeBuoyancyFromFlying(bool ifFlying) {
331 return ifFlying ? 1f : 0f; 403 return ifFlying ? 1f : 0f;
332 } 404 }
333 public override bool 405 public override bool
334 SetAlwaysRun { 406 SetAlwaysRun {
335 get { return _setAlwaysRun; } 407 get { return _setAlwaysRun; }
336 set { _setAlwaysRun = value; } 408 set { _setAlwaysRun = value; }
337 } 409 }
338 public override bool ThrottleUpdates { 410 public override bool ThrottleUpdates {
339 get { return _throttleUpdates; } 411 get { return _throttleUpdates; }
340 set { _throttleUpdates = value; } 412 set { _throttleUpdates = value; }
341 } 413 }
342 public override bool IsColliding { 414 public override bool IsColliding {
343 get { return (_collidingStep == _scene.SimulationStep); } 415 get { return (CollidingStep == PhysicsScene.SimulationStep); }
344 set { _isColliding = value; } 416 set { _isColliding = value; }
345 } 417 }
346 public override bool CollidingGround { 418 public override bool CollidingGround {
347 get { return (_collidingGroundStep == _scene.SimulationStep); } 419 get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
348 set { _collidingGround = value; } 420 set { CollidingGround = value; }
421 }
422 public override bool CollidingObj {
423 get { return _collidingObj; }
424 set { _collidingObj = value; }
349 } 425 }
350 public override bool CollidingObj { 426 public override bool FloatOnWater {
351 get { return _collidingObj; } 427 set {
352 set { _collidingObj = value; } 428 _floatOnWater = value;
429 PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
430 {
431 if (_floatOnWater)
432 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
433 else
434 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
435 });
436 }
353 } 437 }
354 public override bool FloatOnWater { 438 public override OMV.Vector3 RotationalVelocity {
355 set { _floatOnWater = value; } 439 get { return _rotationalVelocity; }
440 set { _rotationalVelocity = value; }
356 } 441 }
357 public override Vector3 RotationalVelocity { 442 public override OMV.Vector3 ForceRotationalVelocity {
358 get { return _rotationalVelocity; } 443 get { return _rotationalVelocity; }
359 set { _rotationalVelocity = value; } 444 set { _rotationalVelocity = value; }
360 } 445 }
361 public override bool Kinematic { 446 public override bool Kinematic {
362 get { return _kinematic; } 447 get { return _kinematic; }
363 set { _kinematic = value; } 448 set { _kinematic = value; }
364 } 449 }
365 // neg=fall quickly, 0=1g, 1=0g, pos=float up 450 // neg=fall quickly, 0=1g, 1=0g, pos=float up
366 public override float Buoyancy { 451 public override float Buoyancy {
367 get { return _buoyancy; } 452 get { return _buoyancy; }
368 set { _buoyancy = value; 453 set { _buoyancy = value;
369 _scene.TaintedObject("BSCharacter.setBuoyancy", delegate() 454 PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
370 { 455 {
371 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 456 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
372 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); 457 BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
373 }); 458 });
374 } 459 }
375 } 460 }
376 461
377 // Used for MoveTo 462 // Used for MoveTo
378 public override Vector3 PIDTarget { 463 public override OMV.Vector3 PIDTarget {
379 set { _PIDTarget = value; } 464 set { _PIDTarget = value; }
380 } 465 }
381 public override bool PIDActive { 466 public override bool PIDActive {
382 set { _usePID = value; } 467 set { _usePID = value; }
383 } 468 }
384 public override float PIDTau { 469 public override float PIDTau {
385 set { _PIDTau = value; } 470 set { _PIDTau = value; }
386 } 471 }
387 472
388 // Used for llSetHoverHeight and maybe vehicle height 473 // Used for llSetHoverHeight and maybe vehicle height
389 // Hover Height will override MoveTo target's Z 474 // Hover Height will override MoveTo target's Z
390 public override bool PIDHoverActive { 475 public override bool PIDHoverActive {
391 set { _useHoverPID = value; } 476 set { _useHoverPID = value; }
392 } 477 }
393 public override float PIDHoverHeight { 478 public override float PIDHoverHeight {
394 set { _PIDHoverHeight = value; } 479 set { _PIDHoverHeight = value; }
395 } 480 }
396 public override PIDHoverType PIDHoverType { 481 public override PIDHoverType PIDHoverType {
397 set { _PIDHoverType = value; } 482 set { _PIDHoverType = value; }
398 } 483 }
399 public override float PIDHoverTau { 484 public override float PIDHoverTau {
400 set { _PIDHoverTao = value; } 485 set { _PIDHoverTao = value; }
401 } 486 }
402 487
403 // For RotLookAt 488 // For RotLookAt
404 public override Quaternion APIDTarget { set { return; } } 489 public override OMV.Quaternion APIDTarget { set { return; } }
405 public override bool APIDActive { set { return; } } 490 public override bool APIDActive { set { return; } }
406 public override float APIDStrength { set { return; } } 491 public override float APIDStrength { set { return; } }
407 public override float APIDDamping { set { return; } } 492 public override float APIDDamping { set { return; } }
408 493
409 public override void AddForce(Vector3 force, bool pushforce) { 494 public override void AddForce(OMV.Vector3 force, bool pushforce) {
410 if (force.IsFinite()) 495 if (force.IsFinite())
411 { 496 {
412 _force.X += force.X; 497 _force.X += force.X;
413 _force.Y += force.Y; 498 _force.Y += force.Y;
414 _force.Z += force.Z; 499 _force.Z += force.Z;
415 // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); 500 // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
416 _scene.TaintedObject("BSCharacter.AddForce", delegate() 501 PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
417 { 502 {
418 DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); 503 DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
419 BulletSimAPI.AddObjectForce2(Body.Ptr, _force); 504 BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
420 }); 505 });
421 } 506 }
422 else 507 else
@@ -426,37 +511,19 @@ public class BSCharacter : PhysicsActor
426 //m_lastUpdateSent = false; 511 //m_lastUpdateSent = false;
427 } 512 }
428 513
429 public override void AddAngularForce(Vector3 force, bool pushforce) { 514 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
430 } 515 }
431 public override void SetMomentum(Vector3 momentum) { 516 public override void SetMomentum(OMV.Vector3 momentum) {
432 } 517 }
433 518
434 // Turn on collision events at a rate no faster than one every the given milliseconds 519 private void ComputeAvatarScale(OMV.Vector3 size)
435 public override void SubscribeEvents(int ms) { 520 {
436 _subscribedEventsMs = ms; 521 _scale.X = PhysicsScene.Params.avatarCapsuleRadius;
437 if (ms > 0) 522 _scale.Y = PhysicsScene.Params.avatarCapsuleRadius;
438 {
439 // make sure first collision happens
440 _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
441 523
442 Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate() 524 // The 1.15 came from ODE but it seems to cause the avatar to float off the ground
443 { 525 // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
444 BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 526 _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 } 527 }
461 528
462 // set _avatarVolume and _mass based on capsule size, _density and _scale 529 // set _avatarVolume and _mass based on capsule size, _density and _scale
@@ -473,82 +540,26 @@ public class BSCharacter : PhysicsActor
473 * Math.Min(_scale.X, _scale.Y) 540 * Math.Min(_scale.X, _scale.Y)
474 * _scale.Y // plus the volume of the capsule end caps 541 * _scale.Y // plus the volume of the capsule end caps
475 ); 542 );
476 _mass = _density * _avatarVolume; 543 _mass = _avatarDensity * _avatarVolume;
477 } 544 }
478 545
479 // The physics engine says that properties have updated. Update same and inform 546 // The physics engine says that properties have updated. Update same and inform
480 // the world that things have changed. 547 // the world that things have changed.
481 public void UpdateProperties(EntityProperties entprop) 548 public override void UpdateProperties(EntityProperties entprop)
482 { 549 {
483 _position = entprop.Position; 550 _position = entprop.Position;
484 _orientation = entprop.Rotation; 551 _orientation = entprop.Rotation;
485 _velocity = entprop.Velocity; 552 _velocity = entprop.Velocity;
486 _acceleration = entprop.Acceleration; 553 _acceleration = entprop.Acceleration;
487 _rotationalVelocity = entprop.RotationalVelocity; 554 _rotationalVelocity = entprop.RotationalVelocity;
555 // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
556 PositionSanityCheck2(true);
557
488 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. 558 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
489 // base.RequestPhysicsterseUpdate(); 559 // base.RequestPhysicsterseUpdate();
490 560
491 /*
492 DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 561 DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
493 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 562 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
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
506 // The following makes IsColliding() and IsCollidingGround() work
507 _collidingStep = _scene.SimulationStep;
508 if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
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 } 563 }
553} 564}
554} 565}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 25084d8..a20be3a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -48,22 +48,31 @@ 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 if (m_constraint.ptr != IntPtr.Zero)
53 {
54 bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
55 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
56 BSScene.DetailLogZero,
57 m_body1.ID, m_body1.ptr.ToString("X"),
58 m_body2.ID, m_body2.ptr.ToString("X"),
59 success);
60 m_constraint.ptr = System.IntPtr.Zero;
61 }
56 } 62 }
57 } 63 }
58 64
59 public BulletBody Body1 { get { return m_body1; } } 65 public BulletBody Body1 { get { return m_body1; } }
60 public BulletBody Body2 { get { return m_body2; } } 66 public BulletBody Body2 { get { return m_body2; } }
67 public BulletConstraint Constraint { get { return m_constraint; } }
68 public abstract ConstraintType Type { get; }
69
61 70
62 public virtual bool SetLinearLimits(Vector3 low, Vector3 high) 71 public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
63 { 72 {
64 bool ret = false; 73 bool ret = false;
65 if (m_enabled) 74 if (m_enabled)
66 ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); 75 ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
67 return ret; 76 return ret;
68 } 77 }
69 78
@@ -71,7 +80,18 @@ public abstract class BSConstraint : IDisposable
71 { 80 {
72 bool ret = false; 81 bool ret = false;
73 if (m_enabled) 82 if (m_enabled)
74 ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); 83 ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
84 return ret;
85 }
86
87 public virtual bool SetSolverIterations(float cnt)
88 {
89 bool ret = false;
90 if (m_enabled)
91 {
92 BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
93 ret = true;
94 }
75 return ret; 95 return ret;
76 } 96 }
77 97
@@ -81,7 +101,7 @@ public abstract class BSConstraint : IDisposable
81 if (m_enabled) 101 if (m_enabled)
82 { 102 {
83 // Recompute the internal transforms 103 // Recompute the internal transforms
84 BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); 104 BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
85 ret = true; 105 ret = true;
86 } 106 }
87 return ret; 107 return ret;
@@ -97,13 +117,14 @@ public abstract class BSConstraint : IDisposable
97 ret = CalculateTransforms(); 117 ret = CalculateTransforms();
98 if (ret) 118 if (ret)
99 { 119 {
100 // m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}", 120 // Setting an object's mass to zero (making it static like when it's selected)
101 // BSScene.DetailLogZero, Body1.ID, Body2.ID); 121 // automatically disables the constraints.
102 BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); 122 // If the link is enabled, be sure to set the constraint itself to enabled.
123 BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true));
103 } 124 }
104 else 125 else
105 { 126 {
106 m_world.scene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID); 127 m_world.physicsScene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
107 } 128 }
108 } 129 }
109 return ret; 130 return ret;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 5a9f135..56342b8 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;
@@ -97,7 +92,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
97 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate 92 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
98 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate 93 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
99 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body 94 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
100 // private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body 95 private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
101 96
102 //Deflection properties 97 //Deflection properties
103 // private float m_angularDeflectionEfficiency = 0; 98 // private float m_angularDeflectionEfficiency = 0;
@@ -124,86 +119,74 @@ 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)
123 {
124 PhysicsScene = myScene;
125 Prim = myPrim;
126 Type = Vehicle.TYPE_NONE;
127 }
128
129 // Return 'true' if this vehicle is doing vehicle things
130 public bool IsActive
128 { 131 {
129 m_prim = myPrim; 132 get { return Type != Vehicle.TYPE_NONE; }
130 m_type = Vehicle.TYPE_NONE;
131 } 133 }
132 134
133 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep) 135 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
134 { 136 {
135 DetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); 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:
139 if (pValue < 0.01f) pValue = 0.01f; 141 // m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f);
140 // m_angularDeflectionEfficiency = pValue;
141 break; 142 break;
142 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: 143 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
143 if (pValue < 0.01f) pValue = 0.01f; 144 // m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
144 // m_angularDeflectionTimescale = pValue;
145 break; 145 break;
146 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: 146 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
147 if (pValue < 0.01f) pValue = 0.01f; 147 m_angularMotorDecayTimescale = Math.Max(pValue, 0.01f);
148 m_angularMotorDecayTimescale = pValue;
149 break; 148 break;
150 case Vehicle.ANGULAR_MOTOR_TIMESCALE: 149 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
151 if (pValue < 0.01f) pValue = 0.01f; 150 m_angularMotorTimescale = Math.Max(pValue, 0.01f);
152 m_angularMotorTimescale = pValue;
153 break; 151 break;
154 case Vehicle.BANKING_EFFICIENCY: 152 case Vehicle.BANKING_EFFICIENCY:
155 if (pValue < 0.01f) pValue = 0.01f; 153 // m_bankingEfficiency = Math.Max(pValue, 0.01f);
156 // m_bankingEfficiency = pValue;
157 break; 154 break;
158 case Vehicle.BANKING_MIX: 155 case Vehicle.BANKING_MIX:
159 if (pValue < 0.01f) pValue = 0.01f; 156 // m_bankingMix = Math.Max(pValue, 0.01f);
160 // m_bankingMix = pValue;
161 break; 157 break;
162 case Vehicle.BANKING_TIMESCALE: 158 case Vehicle.BANKING_TIMESCALE:
163 if (pValue < 0.01f) pValue = 0.01f; 159 // m_bankingTimescale = Math.Max(pValue, 0.01f);
164 // m_bankingTimescale = pValue;
165 break; 160 break;
166 case Vehicle.BUOYANCY: 161 case Vehicle.BUOYANCY:
167 if (pValue < -1f) pValue = -1f; 162 m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f));
168 if (pValue > 1f) pValue = 1f;
169 m_VehicleBuoyancy = pValue;
170 break; 163 break;
171// case Vehicle.HOVER_EFFICIENCY: 164// case Vehicle.HOVER_EFFICIENCY:
172// if (pValue < 0f) pValue = 0f; 165// m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f));
173// if (pValue > 1f) pValue = 1f;
174// m_VhoverEfficiency = pValue;
175// break; 166// break;
176 case Vehicle.HOVER_HEIGHT: 167 case Vehicle.HOVER_HEIGHT:
177 m_VhoverHeight = pValue; 168 m_VhoverHeight = pValue;
178 break; 169 break;
179 case Vehicle.HOVER_TIMESCALE: 170 case Vehicle.HOVER_TIMESCALE:
180 if (pValue < 0.01f) pValue = 0.01f; 171 m_VhoverTimescale = Math.Max(pValue, 0.01f);
181 m_VhoverTimescale = pValue;
182 break; 172 break;
183 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: 173 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
184 if (pValue < 0.01f) pValue = 0.01f; 174 // m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f);
185 // m_linearDeflectionEfficiency = pValue;
186 break; 175 break;
187 case Vehicle.LINEAR_DEFLECTION_TIMESCALE: 176 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
188 if (pValue < 0.01f) pValue = 0.01f; 177 // m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
189 // m_linearDeflectionTimescale = pValue;
190 break; 178 break;
191 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: 179 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
192 if (pValue < 0.01f) pValue = 0.01f; 180 m_linearMotorDecayTimescale = Math.Max(pValue, 0.01f);
193 m_linearMotorDecayTimescale = pValue;
194 break; 181 break;
195 case Vehicle.LINEAR_MOTOR_TIMESCALE: 182 case Vehicle.LINEAR_MOTOR_TIMESCALE:
196 if (pValue < 0.01f) pValue = 0.01f; 183 m_linearMotorTimescale = Math.Max(pValue, 0.01f);
197 m_linearMotorTimescale = pValue;
198 break; 184 break;
199 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: 185 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
200 if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable 186 m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f));
201 if (pValue > 1.0f) pValue = 1.0f;
202 m_verticalAttractionEfficiency = pValue;
203 break; 187 break;
204 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: 188 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
205 if (pValue < 0.01f) pValue = 0.01f; 189 m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
206 m_verticalAttractionTimescale = pValue;
207 break; 190 break;
208 191
209 // These are vector properties but the engine lets you use a single float value to 192 // These are vector properties but the engine lets you use a single float value to
@@ -229,9 +212,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
229 } 212 }
230 }//end ProcessFloatVehicleParam 213 }//end ProcessFloatVehicleParam
231 214
232 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep) 215 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
233 { 216 {
234 DetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); 217 VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
235 switch (pParam) 218 switch (pParam)
236 { 219 {
237 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 220 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
@@ -266,7 +249,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
266 249
267 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) 250 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
268 { 251 {
269 DetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); 252 VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
270 switch (pParam) 253 switch (pParam)
271 { 254 {
272 case Vehicle.REFERENCE_FRAME: 255 case Vehicle.REFERENCE_FRAME:
@@ -280,166 +263,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin
280 263
281 internal void ProcessVehicleFlags(int pParam, bool remove) 264 internal void ProcessVehicleFlags(int pParam, bool remove)
282 { 265 {
283 DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); 266 VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove);
267 VehicleFlag parm = (VehicleFlag)pParam;
284 if (remove) 268 if (remove)
285 { 269 {
286 if (pParam == -1) 270 if (pParam == -1)
287 { 271 {
288 m_flags = (VehicleFlag)0; 272 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 } 273 }
332 if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP) 274 else
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 }
357 if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
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 { 275 {
369 if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0) 276 m_flags &= ~parm;
370 m_flags &= ~(VehicleFlag.LOCK_ROTATION);
371 } 277 }
372 } 278 }
373 else 279 else {
374 { 280 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 } 281 }
436 }//end ProcessVehicleFlags 282 }//end ProcessVehicleFlags
437 283
438 internal void ProcessTypeChange(Vehicle pType) 284 internal void ProcessTypeChange(Vehicle pType)
439 { 285 {
440 DetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); 286 VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType);
441 // Set Defaults For Type 287 // Set Defaults For Type
442 m_type = pType; 288 Type = pType;
443 switch (pType) 289 switch (pType)
444 { 290 {
445 case Vehicle.TYPE_NONE: 291 case Vehicle.TYPE_NONE:
@@ -478,10 +324,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
478 // m_bankingMix = 1; 324 // m_bankingMix = 1;
479 // m_bankingTimescale = 10; 325 // m_bankingTimescale = 10;
480 // m_referenceFrame = Quaternion.Identity; 326 // m_referenceFrame = Quaternion.Identity;
481 m_Hoverflags &= 327 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
328 m_flags &=
482 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 329 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
483 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 330 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; 331 break;
486 case Vehicle.TYPE_CAR: 332 case Vehicle.TYPE_CAR:
487 m_linearFrictionTimescale = new Vector3(100, 2, 1000); 333 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
@@ -506,10 +352,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
506 // m_bankingMix = 1; 352 // m_bankingMix = 1;
507 // m_bankingTimescale = 1; 353 // m_bankingTimescale = 1;
508 // m_referenceFrame = Quaternion.Identity; 354 // m_referenceFrame = Quaternion.Identity;
509 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); 355 m_flags |= (VehicleFlag.NO_DEFLECTION_UP
510 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | 356 | VehicleFlag.LIMIT_ROLL_ONLY
511 VehicleFlag.LIMIT_MOTOR_UP); 357 | VehicleFlag.LIMIT_MOTOR_UP);
512 m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY); 358 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
359 m_flags |= (VehicleFlag.HOVER_UP_ONLY);
513 break; 360 break;
514 case Vehicle.TYPE_BOAT: 361 case Vehicle.TYPE_BOAT:
515 m_linearFrictionTimescale = new Vector3(10, 3, 2); 362 m_linearFrictionTimescale = new Vector3(10, 3, 2);
@@ -534,12 +381,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
534 // m_bankingMix = 0.8f; 381 // m_bankingMix = 0.8f;
535 // m_bankingTimescale = 1; 382 // m_bankingTimescale = 1;
536 // m_referenceFrame = Quaternion.Identity; 383 // m_referenceFrame = Quaternion.Identity;
537 m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | 384 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
538 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 385 | VehicleFlag.HOVER_GLOBAL_HEIGHT
539 m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); 386 | VehicleFlag.LIMIT_ROLL_ONLY
540 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | 387 | VehicleFlag.HOVER_UP_ONLY);
541 VehicleFlag.LIMIT_MOTOR_UP); 388 m_flags |= (VehicleFlag.NO_DEFLECTION_UP
542 m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY); 389 | VehicleFlag.LIMIT_MOTOR_UP
390 | VehicleFlag.HOVER_WATER_ONLY);
543 break; 391 break;
544 case Vehicle.TYPE_AIRPLANE: 392 case Vehicle.TYPE_AIRPLANE:
545 m_linearFrictionTimescale = new Vector3(200, 10, 5); 393 m_linearFrictionTimescale = new Vector3(200, 10, 5);
@@ -564,9 +412,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
564 // m_bankingMix = 0.7f; 412 // m_bankingMix = 0.7f;
565 // m_bankingTimescale = 2; 413 // m_bankingTimescale = 2;
566 // m_referenceFrame = Quaternion.Identity; 414 // m_referenceFrame = Quaternion.Identity;
567 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 415 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
568 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 416 | VehicleFlag.HOVER_TERRAIN_ONLY
569 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); 417 | VehicleFlag.HOVER_GLOBAL_HEIGHT
418 | VehicleFlag.HOVER_UP_ONLY
419 | VehicleFlag.NO_DEFLECTION_UP
420 | VehicleFlag.LIMIT_MOTOR_UP);
570 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); 421 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
571 break; 422 break;
572 case Vehicle.TYPE_BALLOON: 423 case Vehicle.TYPE_BALLOON:
@@ -592,50 +443,66 @@ namespace OpenSim.Region.Physics.BulletSPlugin
592 // m_bankingMix = 0.7f; 443 // m_bankingMix = 0.7f;
593 // m_bankingTimescale = 5; 444 // m_bankingTimescale = 5;
594 // m_referenceFrame = Quaternion.Identity; 445 // m_referenceFrame = Quaternion.Identity;
595 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 446 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
596 VehicleFlag.HOVER_UP_ONLY); 447 | VehicleFlag.HOVER_TERRAIN_ONLY
597 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); 448 | VehicleFlag.HOVER_UP_ONLY
598 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); 449 | VehicleFlag.NO_DEFLECTION_UP
599 m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); 450 | VehicleFlag.LIMIT_MOTOR_UP);
451 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY
452 | VehicleFlag.HOVER_GLOBAL_HEIGHT);
600 break; 453 break;
601 } 454 }
602 }//end SetDefaultsForType 455 }//end SetDefaultsForType
603 456
604 internal void Step(float pTimestep) 457 // Some of the properties of this prim may have changed.
458 // Do any updating needed for a vehicle
459 public void Refresh()
605 { 460 {
606 if (m_type == Vehicle.TYPE_NONE) return; 461 if (!IsActive)
462 return;
463
464 // Set the prim's inertia to zero. The vehicle code handles that and this
465 // removes the motion and torque actions introduced by Bullet.
466 Vector3 inertia = Vector3.Zero;
467 BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia);
468 BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
469 }
607 470
608 frcount++; // used to limit debug comment output 471 // One step of the vehicle properties for the next 'pTimestep' seconds.
609 if (frcount > 100) 472 internal void Step(float pTimestep)
610 frcount = 0; 473 {
474 if (!IsActive) return;
611 475
612 MoveLinear(pTimestep); 476 MoveLinear(pTimestep);
613 MoveAngular(pTimestep); 477 MoveAngular(pTimestep);
614 LimitRotation(pTimestep); 478 LimitRotation(pTimestep);
615 479
616 DetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 480 // 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); 481 m_lastPositionVector = Prim.ForcePosition;
482
483 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
484 Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity);
618 }// end Step 485 }// end Step
619 486
487 // Apply the effect of the linear motor.
488 // Also does hover and float.
620 private void MoveLinear(float pTimestep) 489 private void MoveLinear(float pTimestep)
621 { 490 {
622 // requested m_linearMotorDirection is significant 491 // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates
623 // if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) 492 // m_lastLinearVelocityVector is the speed we are moving in that direction
624 if (m_linearMotorDirection.LengthSquared() > 0.0001f) 493 if (m_linearMotorDirection.LengthSquared() > 0.001f)
625 { 494 {
626 Vector3 origDir = m_linearMotorDirection; 495 Vector3 origDir = m_linearMotorDirection;
627 Vector3 origVel = m_lastLinearVelocityVector; 496 Vector3 origVel = m_lastLinearVelocityVector;
628 497
629 // add drive to body 498 // add drive to body
630 // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); 499 // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale / pTimestep);
631 Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale); 500 Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep);
632 // lastLinearVelocityVector is the current body velocity vector? 501 // lastLinearVelocityVector is the current body velocity vector
633 // RA: Not sure what the *10 is for. A correction for pTimestep? 502 // RA: Not sure what the *10 is for. A correction for pTimestep?
634 // m_lastLinearVelocityVector += (addAmount*10); 503 // m_lastLinearVelocityVector += (addAmount*10);
635 m_lastLinearVelocityVector += addAmount; 504 m_lastLinearVelocityVector += addAmount;
636 505
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 506 // 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)) 507 if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
641 m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; 508 m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
@@ -644,124 +511,87 @@ namespace OpenSim.Region.Physics.BulletSPlugin
644 if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z)) 511 if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
645 m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z; 512 m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
646 513
514 /*
647 // decay applied velocity 515 // decay applied velocity
648 Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); 516 Vector3 decayfraction = Vector3.One/(m_linearMotorDecayTimescale / pTimestep);
517 // (RA: do not know where the 0.5f comes from)
649 m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; 518 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 */ 519 */
520 float keepfraction = 1.0f - (1.0f / (m_linearMotorDecayTimescale / pTimestep));
521 m_linearMotorDirection *= keepfraction;
659 522
660 DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", 523 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); 524 Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
662 } 525 }
663 else 526 else
664 { 527 {
665 // if what remains of applied is small, zero it. 528 // 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; 529 m_linearMotorDirection = Vector3.Zero;
669 m_lastLinearVelocityVector = Vector3.Zero; 530 m_lastLinearVelocityVector = Vector3.Zero;
531 VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
670 } 532 }
671 533
672 // convert requested object velocity to world-referenced vector 534 // convert requested object velocity to object relative vector
673 Quaternion rotq = m_prim.Orientation; 535 Quaternion rotq = Prim.ForceOrientation;
674 m_dir = m_lastLinearVelocityVector * rotq; 536 m_newVelocity = m_lastLinearVelocityVector * rotq;
675 537
676 // Add the various forces into m_dir which will be our new direction vector (velocity) 538 // Add the various forces into m_dir which will be our new direction vector (velocity)
677 539
678 // add Gravity and Buoyancy 540 // 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. 541 // There is some gravity, make a gravity force vector that is applied after object velocity.
684 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 542 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
685 grav.Z = m_prim.Scene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); 543 Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy));
544
545 /*
546 * RA: Not sure why one would do this
686 // Preserve the current Z velocity 547 // Preserve the current Z velocity
687 Vector3 vel_now = m_prim.Velocity; 548 Vector3 vel_now = m_prim.Velocity;
688 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity 549 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
550 */
689 551
690 Vector3 pos = m_prim.Position; 552 Vector3 pos = Prim.ForcePosition;
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); 553// 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 }
729 554
730 // If below the terrain, move us above the ground a little. 555 // If below the terrain, move us above the ground a little.
731 if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos)) 556 float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
557 // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
558 // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
559 // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation;
560 // if (rotatedSize.Z < terrainHeight)
561 if (pos.Z < terrainHeight)
732 { 562 {
733 pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2; 563 pos.Z = terrainHeight + 2;
734 m_prim.Position = pos; 564 Prim.ForcePosition = pos;
735 DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); 565 VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
736 } 566 }
737 567
738 // Check if hovering 568 // Check if hovering
739 if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) 569 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
740 { 570 {
741 // We should hover, get the target height 571 // We should hover, get the target height
742 if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) 572 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
743 { 573 {
744 m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight; 574 m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
745 } 575 }
746 if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) 576 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
747 { 577 {
748 m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; 578 m_VhoverTargetHeight = terrainHeight + m_VhoverHeight;
749 } 579 }
750 if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) 580 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
751 { 581 {
752 m_VhoverTargetHeight = m_VhoverHeight; 582 m_VhoverTargetHeight = m_VhoverHeight;
753 } 583 }
754 584
755 if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0) 585 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
756 { 586 {
757 // If body is aready heigher, use its height as target height 587 // If body is aready heigher, use its height as target height
758 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; 588 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
759 } 589 }
760 if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) 590 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
761 { 591 {
762 if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) 592 if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
763 { 593 {
764 m_prim.Position = pos; 594 Prim.ForcePosition = pos;
765 } 595 }
766 } 596 }
767 else 597 else
@@ -770,85 +600,99 @@ namespace OpenSim.Region.Physics.BulletSPlugin
770 // Replace Vertical speed with correction figure if significant 600 // Replace Vertical speed with correction figure if significant
771 if (Math.Abs(herr0) > 0.01f) 601 if (Math.Abs(herr0) > 0.01f)
772 { 602 {
773 m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale); 603 m_newVelocity.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
774 //KF: m_VhoverEfficiency is not yet implemented 604 //KF: m_VhoverEfficiency is not yet implemented
775 } 605 }
776 else 606 else
777 { 607 {
778 m_dir.Z = 0f; 608 m_newVelocity.Z = 0f;
779 } 609 }
780 } 610 }
781 611
782 DetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight); 612 VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight);
613 }
783 614
784// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped 615 Vector3 posChange = pos - m_lastPositionVector;
785// m_VhoverTimescale = 0f; // time to acheive height 616 if (m_BlockingEndPoint != Vector3.Zero)
786// pTimestep is time since last frame,in secs 617 {
618 bool changed = false;
619 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
620 {
621 pos.X -= posChange.X + 1;
622 changed = true;
623 }
624 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
625 {
626 pos.Y -= posChange.Y + 1;
627 changed = true;
628 }
629 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
630 {
631 pos.Z -= posChange.Z + 1;
632 changed = true;
633 }
634 if (pos.X <= 0)
635 {
636 pos.X += posChange.X + 1;
637 changed = true;
638 }
639 if (pos.Y <= 0)
640 {
641 pos.Y += posChange.Y + 1;
642 changed = true;
643 }
644 if (changed)
645 {
646 Prim.ForcePosition = pos;
647 VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
648 Prim.LocalID, m_BlockingEndPoint, posChange, pos);
649 }
787 } 650 }
788 651
652 // Limit absolute vertical change
653 float Zchange = Math.Abs(posChange.Z);
789 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) 654 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
790 { 655 {
791 //Start Experimental Values
792 if (Zchange > .3) 656 if (Zchange > .3)
793 {
794 grav.Z = (float)(grav.Z * 3); 657 grav.Z = (float)(grav.Z * 3);
795 }
796 if (Zchange > .15) 658 if (Zchange > .15)
797 {
798 grav.Z = (float)(grav.Z * 2); 659 grav.Z = (float)(grav.Z * 2);
799 }
800 if (Zchange > .75) 660 if (Zchange > .75)
801 {
802 grav.Z = (float)(grav.Z * 1.5); 661 grav.Z = (float)(grav.Z * 1.5);
803 }
804 if (Zchange > .05) 662 if (Zchange > .05)
805 {
806 grav.Z = (float)(grav.Z * 1.25); 663 grav.Z = (float)(grav.Z * 1.25);
807 }
808 if (Zchange > .025) 664 if (Zchange > .025)
809 {
810 grav.Z = (float)(grav.Z * 1.125); 665 grav.Z = (float)(grav.Z * 1.125);
811 } 666 float postemp = (pos.Z - terrainHeight);
812 float terraintemp = m_prim.Scene.GetTerrainHeightAtXYZ(pos);
813 float postemp = (pos.Z - terraintemp);
814 if (postemp > 2.5f) 667 if (postemp > 2.5f)
815 {
816 grav.Z = (float)(grav.Z * 1.037125); 668 grav.Z = (float)(grav.Z * 1.037125);
817 } 669 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 } 670 }
671
672 // If not changing some axis, reduce out velocity
821 if ((m_flags & (VehicleFlag.NO_X)) != 0) 673 if ((m_flags & (VehicleFlag.NO_X)) != 0)
822 { 674 m_newVelocity.X = 0;
823 m_dir.X = 0;
824 }
825 if ((m_flags & (VehicleFlag.NO_Y)) != 0) 675 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
826 { 676 m_newVelocity.Y = 0;
827 m_dir.Y = 0;
828 }
829 if ((m_flags & (VehicleFlag.NO_Z)) != 0) 677 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
830 { 678 m_newVelocity.Z = 0;
831 m_dir.Z = 0;
832 }
833
834 m_lastPositionVector = m_prim.Position;
835 679
836 // Apply velocity 680 // Apply velocity
837 m_prim.Velocity = m_dir; 681 Prim.ForceVelocity = m_newVelocity;
838 // apply gravity force 682 // apply gravity force
839 // Why is this set here? The physics engine already does gravity. 683 // Why is this set here? The physics engine already does gravity.
840 // m_prim.AddForce(grav, false); 684 Prim.AddForce(grav, false, true);
841 // m_prim.Force = grav;
842 685
843 // Apply friction 686 // Apply friction
844 Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); 687 Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep));
845 m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; 688 m_lastLinearVelocityVector *= keepFraction;
846 689
847 DetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", 690 VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}",
848 m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount); 691 Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction);
849 692
850 } // end MoveLinear() 693 } // end MoveLinear()
851 694
695 // Apply the effect of the angular motor.
852 private void MoveAngular(float pTimestep) 696 private void MoveAngular(float pTimestep)
853 { 697 {
854 // m_angularMotorDirection // angular velocity requested by LSL motor 698 // m_angularMotorDirection // angular velocity requested by LSL motor
@@ -860,7 +704,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
860 // m_lastAngularVelocity // what was last applied to body 704 // m_lastAngularVelocity // what was last applied to body
861 705
862 // Get what the body is doing, this includes 'external' influences 706 // Get what the body is doing, this includes 'external' influences
863 Vector3 angularVelocity = m_prim.RotationalVelocity; 707 Vector3 angularVelocity = Prim.ForceRotationalVelocity;
864 708
865 if (m_angularMotorApply > 0) 709 if (m_angularMotorApply > 0)
866 { 710 {
@@ -868,48 +712,58 @@ namespace OpenSim.Region.Physics.BulletSPlugin
868 // a newly set velocity, this routine steps the value from the previous 712 // a newly set velocity, this routine steps the value from the previous
869 // value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection). 713 // value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection).
870 // There are m_angularMotorApply steps. 714 // There are m_angularMotorApply steps.
871 Vector3 origAngularVelocity = m_angularMotorVelocity; 715 Vector3 origVel = m_angularMotorVelocity;
716 Vector3 origDir = m_angularMotorDirection;
717
872 // ramp up to new value 718 // ramp up to new value
873 // current velocity += error / (time to get there / step interval) 719 // new velocity += error / ( time to get there / step interval)
874 // requested speed - last motor speed 720 // requested speed - last motor speed
875 m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); 721 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); 722 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); 723 m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
878 724
879 DetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", 725 VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},origDir={5},vel={6}",
880 m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); 726 Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
881 727
882 m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected 728 m_angularMotorApply--;
883 // velocity may still be acheived.
884 } 729 }
885 else 730 else
886 { 731 {
887 // No motor recently applied, keep the body velocity 732 // No motor recently applied, keep the body velocity
888 // and decay the velocity 733 // and decay the velocity
889 m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); 734 m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
735 if (m_angularMotorVelocity.LengthSquared() < 0.00001)
736 m_angularMotorVelocity = Vector3.Zero;
890 } // end motor section 737 } // end motor section
891 738
892 // Vertical attractor section 739 // Vertical attractor section
893 Vector3 vertattr = Vector3.Zero; 740 Vector3 vertattr = Vector3.Zero;
894 if (m_verticalAttractionTimescale < 300) 741 Vector3 deflection = Vector3.Zero;
742 Vector3 banking = Vector3.Zero;
743
744 if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero)
895 { 745 {
896 float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); 746 float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep);
747 VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
748
897 // get present body rotation 749 // get present body rotation
898 Quaternion rotq = m_prim.Orientation; 750 Quaternion rotq = Prim.ForceOrientation;
899 // make a vector pointing up 751 // vector pointing up
900 Vector3 verterr = Vector3.Zero; 752 Vector3 verterr = Vector3.Zero;
901 verterr.Z = 1.0f; 753 verterr.Z = 1.0f;
754
902 // rotate it to Body Angle 755 // rotate it to Body Angle
903 verterr = verterr * rotq; 756 verterr = verterr * rotq;
904 // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. 757 // verterr.X and .Y are the World error amounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
905 // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go 758 // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
906 // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. 759 // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
760
761 // Error is 0 (no error) to +/- 2 (max error)
907 if (verterr.Z < 0.0f) 762 if (verterr.Z < 0.0f)
908 { 763 {
909 verterr.X = 2.0f - verterr.X; 764 verterr.X = 2.0f - verterr.X;
910 verterr.Y = 2.0f - verterr.Y; 765 verterr.Y = 2.0f - verterr.Y;
911 } 766 }
912 // Error is 0 (no error) to +/- 2 (max error)
913 // scale it by VAservo 767 // scale it by VAservo
914 verterr = verterr * VAservo; 768 verterr = verterr * VAservo;
915 769
@@ -924,12 +778,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
924 vertattr.X += bounce * angularVelocity.X; 778 vertattr.X += bounce * angularVelocity.X;
925 vertattr.Y += bounce * angularVelocity.Y; 779 vertattr.Y += bounce * angularVelocity.Y;
926 780
927 DetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", 781 VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}",
928 m_prim.LocalID, verterr, bounce, vertattr); 782 Prim.LocalID, verterr, bounce, vertattr);
929 783
930 } // else vertical attractor is off 784 } // else vertical attractor is off
931 785
932 // m_lastVertAttractor = vertattr; 786 m_lastVertAttractor = vertattr;
933 787
934 // Bank section tba 788 // Bank section tba
935 789
@@ -937,18 +791,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
937 791
938 // Sum velocities 792 // Sum velocities
939 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection 793 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
940 794
941 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) 795 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
942 { 796 {
943 m_lastAngularVelocity.X = 0; 797 m_lastAngularVelocity.X = 0;
944 m_lastAngularVelocity.Y = 0; 798 m_lastAngularVelocity.Y = 0;
945 DetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); 799 VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
946 } 800 }
947 801
948 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) 802 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
949 { 803 {
950 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. 804 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
951 DetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); 805 VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
952 } 806 }
953 807
954 // apply friction 808 // apply friction
@@ -956,14 +810,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
956 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; 810 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
957 811
958 // Apply to the body 812 // Apply to the body
959 m_prim.RotationalVelocity = m_lastAngularVelocity; 813 Prim.ForceRotationalVelocity = m_lastAngularVelocity;
960 814
961 DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); 815 VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity);
962 } //end MoveAngular 816 } //end MoveAngular
963 817
964 internal void LimitRotation(float timestep) 818 internal void LimitRotation(float timestep)
965 { 819 {
966 Quaternion rotq = m_prim.Orientation; 820 Quaternion rotq = Prim.ForceOrientation;
967 Quaternion m_rot = rotq; 821 Quaternion m_rot = rotq;
968 bool changed = false; 822 bool changed = false;
969 if (m_RollreferenceFrame != Quaternion.Identity) 823 if (m_RollreferenceFrame != Quaternion.Identity)
@@ -996,23 +850,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
996 m_rot.Y = 0; 850 m_rot.Y = 0;
997 changed = true; 851 changed = true;
998 } 852 }
999 if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) 853 if (changed)
1000 { 854 {
1001 m_rot.X = 0; 855 Prim.ForceOrientation = m_rot;
1002 m_rot.Y = 0; 856 VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
1003 changed = true;
1004 } 857 }
1005 if (changed)
1006 m_prim.Orientation = m_rot;
1007 858
1008 DetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot);
1009 } 859 }
1010 860
1011 // Invoke the detailed logger and output something if it's enabled. 861 // Invoke the detailed logger and output something if it's enabled.
1012 private void DetailLog(string msg, params Object[] args) 862 private void VDetailLog(string msg, params Object[] args)
1013 { 863 {
1014 if (m_prim.Scene.VehicleLoggingEnabled) 864 if (Prim.PhysicsScene.VehicleLoggingEnabled)
1015 m_prim.Scene.PhysicsLogging.Write(msg, args); 865 Prim.PhysicsScene.DetailLog(msg, args);
1016 } 866 }
1017 } 867 }
1018} 868}
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..43b1262 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -34,16 +34,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin
34{ 34{
35public class BSLinkset 35public 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 HashSet<BSPhysObject> m_children;
56 private HashSet<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 HashSet<BSPhysObject>();
94 m_taintChildren = new HashSet<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 +160,204 @@ public class BSLinkset
150 return ret; 160 return ret;
151 } 161 }
152 162
153 private float ComputeLinksetMass() 163 // When physical properties are changed the linkset needs to recalculate
164 // its internal properties.
165 // May be called at runtime or taint-time (just pass the appropriate flag).
166 public void Refresh(BSPhysObject requestor, bool inTaintTime)
167 {
168 // If there are no children, not physical or not root, I am not the one that recomputes the constraints
169 // (For the moment, static linksets do create constraints so remove the test for physical.)
170 if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor))
171 return;
172
173 BSScene.TaintCallback refreshOperation = delegate()
174 {
175 RecomputeLinksetConstraintVariables();
176 DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}",
177 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
178 };
179 if (inTaintTime)
180 refreshOperation();
181 else
182 PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
183 }
184
185 // The object is going dynamic (physical). Do any setup necessary
186 // for a dynamic linkset.
187 // Only the state of the passed object can be modified. The rest of the linkset
188 // has not yet been fully constructed.
189 // Return 'true' if any properties updated on the passed object.
190 // Called at taint-time!
191 public bool MakeDynamic(BSPhysObject child)
192 {
193 // What is done for each object in BSPrim is what we want.
194 return false;
195 }
196
197 // The object is going static (non-physical). Do any setup necessary
198 // for a static linkset.
199 // Return 'true' if any properties updated on the passed object.
200 // Called at taint-time!
201 public bool MakeStatic(BSPhysObject child)
202 {
203 // What is done for each object in BSPrim is what we want.
204 return false;
205 }
206
207 // If the software is handling the movement of all the objects in a linkset
208 // (like if one doesn't use constraints for static linksets), this is called
209 // when an update for the root of the linkset is received.
210 // Called at taint-time!!
211 public void UpdateProperties(BSPhysObject physObject)
154 { 212 {
155 float mass = m_linksetRoot.MassRaw; 213 // The root local properties have been updated. Apply to the children if appropriate.
156 foreach (BSPrim bp in m_children) 214 if (IsRoot(physObject) && HasAnyChildren)
157 { 215 {
158 mass += bp.MassRaw; 216 if (!physObject.IsPhysical)
217 {
218 // TODO: implement software linkset update for static object linksets
219 }
159 } 220 }
160 return mass;
161 } 221 }
162 222
163 private OMV.Vector3 ComputeLinksetCenterOfMass() 223 // Routine used when rebuilding the body of the root of the linkset
224 // Destroy all the constraints have have been made to root.
225 // This is called when the root body is changing.
226 // Returns 'true' of something eas actually removed and would need restoring
227 // Called at taint-time!!
228 public bool RemoveBodyDependencies(BSPrim child)
164 { 229 {
165 OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw; 230 bool ret = false;
166 float totalMass = m_linksetRoot.MassRaw;
167 231
168 lock (m_linksetActivityLock) 232 lock (m_linksetActivityLock)
169 { 233 {
170 foreach (BSPrim bp in m_children) 234 if (IsRoot(child))
171 { 235 {
172 com += bp.Position * bp.MassRaw; 236 // If the one with the dependency is root, must undo all children
173 totalMass += bp.MassRaw; 237 DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
238 child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
239
240 ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
241 }
242 else
243 {
244 DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
245 child.LocalID,
246 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
247 child.LocalID, child.BSBody.ptr.ToString("X"));
248 // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child);
249 // Despite the function name, this removes any link to the specified object.
250 ret = PhysicallyUnlinkAllChildrenFromRoot(child);
174 } 251 }
175 if (totalMass != 0f)
176 com /= totalMass;
177 } 252 }
178 253 return ret;
179 return com;
180 } 254 }
181 255
182 private OMV.Vector3 ComputeLinksetGeometricCenter() 256 // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
257 // this routine will restore the removed constraints.
258 // Called at taint-time!!
259 public void RestoreBodyDependencies(BSPrim child)
183 { 260 {
184 OMV.Vector3 com = m_linksetRoot.Position;
185
186 lock (m_linksetActivityLock) 261 lock (m_linksetActivityLock)
187 { 262 {
188 foreach (BSPrim bp in m_children) 263 if (IsRoot(child))
189 { 264 {
190 com += bp.Position * bp.MassRaw; 265 DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
266 child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
267 foreach (BSPhysObject bpo in m_taintChildren)
268 {
269 PhysicallyLinkAChildToRoot(LinksetRoot, bpo);
270 }
271 }
272 else
273 {
274 DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
275 LinksetRoot.LocalID,
276 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
277 child.LocalID, child.BSBody.ptr.ToString("X"));
278 PhysicallyLinkAChildToRoot(LinksetRoot, child);
191 } 279 }
192 com /= (m_children.Count + 1);
193 } 280 }
194
195 return com;
196 } 281 }
197 282
198 // When physical properties are changed the linkset needs to recalculate 283 // ================================================================
199 // its internal properties. 284 // Below this point is internal magic
200 public void Refresh(BSPrim requestor) 285
286 private float ComputeLinksetMass()
201 { 287 {
202 // If there are no children, there aren't any constraints to recompute 288 float mass;
203 if (!HasAnyChildren) 289 lock (m_linksetActivityLock)
204 return; 290 {
291 mass = LinksetRoot.MassRaw;
292 foreach (BSPhysObject bp in m_taintChildren)
293 {
294 mass += bp.MassRaw;
295 }
296 }
297 return mass;
298 }
205 299
206 // Only the root does the recomputation 300 private OMV.Vector3 ComputeLinksetCenterOfMass()
207 if (IsRoot(requestor)) 301 {
302 OMV.Vector3 com;
303 lock (m_linksetActivityLock)
208 { 304 {
209 PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate() 305 com = LinksetRoot.Position * LinksetRoot.MassRaw;
306 float totalMass = LinksetRoot.MassRaw;
307
308 foreach (BSPhysObject bp in m_taintChildren)
210 { 309 {
211 RecomputeLinksetConstraintVariables(); 310 com += bp.Position * bp.MassRaw;
212 }); 311 totalMass += bp.MassRaw;
312 }
313 if (totalMass != 0f)
314 com /= totalMass;
213 } 315 }
316
317 return com;
214 } 318 }
215 319
216 // Call each of the constraints that make up this linkset and recompute the 320 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 { 321 {
223 float linksetMass = LinksetMass; 322 OMV.Vector3 com;
224 lock (m_linksetActivityLock) 323 lock (m_linksetActivityLock)
225 { 324 {
226 foreach (BSPrim child in m_children) 325 com = LinksetRoot.Position;
326
327 foreach (BSPhysObject bp in m_taintChildren)
227 { 328 {
228 BSConstraint constrain; 329 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 } 330 }
331 com /= (m_taintChildren.Count + 1);
245 } 332 }
246 return false; 333
334 return com;
247 } 335 }
248 336
249 // I am the root of a linkset and a new child is being added 337 // I am the root of a linkset and a new child is being added
250 // Called while LinkActivity is locked. 338 // Called while LinkActivity is locked.
251 private void AddChildToLinkset(BSPrim child) 339 private void AddChildToLinkset(BSPhysObject child)
252 { 340 {
253 if (!HasChild(child)) 341 if (!HasChild(child))
254 { 342 {
255 m_children.Add(child); 343 m_children.Add(child);
256 344
257 BSPrim rootx = LinksetRoot; // capture the root as of now 345 BSPhysObject rootx = LinksetRoot; // capture the root as of now
258 BSPrim childx = child; 346 BSPhysObject childx = child;
259 m_physicsScene.TaintedObject("AddChildToLinkset", delegate() 347
348 DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
349
350 PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
260 { 351 {
261 // DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); 352 DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}",
262 // DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); 353 rootx.LocalID,
263 PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child 354 rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
355 childx.LocalID, childx.BSBody.ptr.ToString("X"));
356 // Since this is taint-time, the body and shape could have changed for the child
357 rootx.ForcePosition = rootx.Position; // DEBUG
358 childx.ForcePosition = childx.Position; // DEBUG
359 PhysicallyLinkAChildToRoot(rootx, childx);
360 m_taintChildren.Add(child);
264 }); 361 });
265 } 362 }
266 return; 363 return;
@@ -270,30 +367,34 @@ public class BSLinkset
270 // This is not being called by the child so we have to make sure the child doesn't think 367 // 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. 368 // it's still connected to the linkset.
272 // Normal OpenSimulator operation will never do this because other SceneObjectPart information 369 // Normal OpenSimulator operation will never do this because other SceneObjectPart information
273 // has to be updated also (like pointer to prim's parent). 370 // also has to be updated (like pointer to prim's parent).
274 private void RemoveChildFromOtherLinkset(BSPrim pchild) 371 private void RemoveChildFromOtherLinkset(BSPhysObject pchild)
275 { 372 {
276 pchild.Linkset = new BSLinkset(m_physicsScene, pchild); 373 pchild.Linkset = new BSLinkset(PhysicsScene, pchild);
277 RemoveChildFromLinkset(pchild); 374 RemoveChildFromLinkset(pchild);
278 } 375 }
279 376
280 // I am the root of a linkset and one of my children is being removed. 377 // 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. 378 // Safe to call even if the child is not really in my linkset.
282 private void RemoveChildFromLinkset(BSPrim child) 379 private void RemoveChildFromLinkset(BSPhysObject child)
283 { 380 {
284 if (m_children.Remove(child)) 381 if (m_children.Remove(child))
285 { 382 {
286 BSPrim rootx = LinksetRoot; // capture the root as of now 383 BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
287 BSPrim childx = child; 384 BSPhysObject childx = child;
288 m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate() 385
289 { 386 DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
290 // DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); 387 childx.LocalID,
291 // DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); 388 rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
389 childx.LocalID, childx.BSBody.ptr.ToString("X"));
292 390
391 PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
392 {
393 m_taintChildren.Remove(child);
293 PhysicallyUnlinkAChildFromRoot(rootx, childx); 394 PhysicallyUnlinkAChildFromRoot(rootx, childx);
395 RecomputeLinksetConstraintVariables();
294 }); 396 });
295 397
296 RecomputeLinksetConstraintVariables();
297 } 398 }
298 else 399 else
299 { 400 {
@@ -305,7 +406,7 @@ public class BSLinkset
305 406
306 // Create a constraint between me (root of linkset) and the passed prim (the child). 407 // Create a constraint between me (root of linkset) and the passed prim (the child).
307 // Called at taint time! 408 // Called at taint time!
308 private void PhysicallyLinkAChildToRoot(BSPrim rootPrim, BSPrim childPrim) 409 private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
309 { 410 {
310 // Zero motion for children so they don't interpolate 411 // Zero motion for children so they don't interpolate
311 childPrim.ZeroMotion(); 412 childPrim.ZeroMotion();
@@ -317,21 +418,22 @@ public class BSLinkset
317 // real world coordinate of midpoint between the two objects 418 // real world coordinate of midpoint between the two objects
318 OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); 419 OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
319 420
421 DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
422 rootPrim.LocalID,
423 rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
424 childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
425 rootPrim.Position, childPrim.Position, midPoint);
426
320 // create a constraint that allows no freedom of movement between the two objects 427 // create a constraint that allows no freedom of movement between the two objects
321 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 428 // 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); 429
323 DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}",
324 rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint);
325 BS6DofConstraint constrain = new BS6DofConstraint( 430 BS6DofConstraint constrain = new BS6DofConstraint(
326 m_physicsScene.World, rootPrim.Body, childPrim.Body, 431 PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true );
327 midPoint, 432
328 true, 433 /* NOTE: below is an attempt to build constraint with full frame computation, etc.
329 true 434 * Using the midpoint is easier since it lets the Bullet code manipulate the transforms
330 );
331 /* NOTE: attempt to build constraint with full frame computation, etc.
332 * Using the midpoint is easier since it lets the Bullet code use the transforms
333 * of the objects. 435 * of the objects.
334 * Code left here as an example. 436 * Code left as a warning to future programmers.
335 // ================================================================================== 437 // ==================================================================================
336 // relative position normalized to the root prim 438 // relative position normalized to the root prim
337 OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); 439 OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
@@ -343,8 +445,7 @@ public class BSLinkset
343 445
344 // create a constraint that allows no freedom of movement between the two objects 446 // create a constraint that allows no freedom of movement between the two objects
345 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 447 // 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); 448 DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
347 DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
348 BS6DofConstraint constrain = new BS6DofConstraint( 449 BS6DofConstraint constrain = new BS6DofConstraint(
349 PhysicsScene.World, rootPrim.Body, childPrim.Body, 450 PhysicsScene.World, rootPrim.Body, childPrim.Body,
350 OMV.Vector3.Zero, 451 OMV.Vector3.Zero,
@@ -362,7 +463,7 @@ public class BSLinkset
362 // ================================================================================== 463 // ==================================================================================
363 */ 464 */
364 465
365 m_physicsScene.Constraints.AddConstraint(constrain); 466 PhysicsScene.Constraints.AddConstraint(constrain);
366 467
367 // zero linear and angular limits makes the objects unable to move in relation to each other 468 // 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); 469 constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
@@ -374,46 +475,100 @@ public class BSLinkset
374 PhysicsScene.Params.linkConstraintTransMotorMaxVel, 475 PhysicsScene.Params.linkConstraintTransMotorMaxVel,
375 PhysicsScene.Params.linkConstraintTransMotorMaxForce); 476 PhysicsScene.Params.linkConstraintTransMotorMaxForce);
376 constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); 477 constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
377 478 if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
378 RecomputeLinksetConstraintVariables(); 479 {
480 constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
481 }
379 } 482 }
380 483
381 // Remove linkage between myself and a particular child 484 // Remove linkage between myself and a particular child
485 // The root and child bodies are passed in because we need to remove the constraint between
486 // the bodies that were at unlink time.
382 // Called at taint time! 487 // Called at taint time!
383 private void PhysicallyUnlinkAChildFromRoot(BSPrim rootPrim, BSPrim childPrim) 488 private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
384 { 489 {
385 // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", 490 bool ret = false;
386 // LogHeader, rootPrim.LocalID, childPrim.LocalID); 491 DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
387 DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); 492 rootPrim.LocalID,
493 rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
494 childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"));
388 495
389 // Find the constraint for this link and get rid of it from the overall collection and from my list 496 // 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); 497 if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody))
498 {
499 // Make the child refresh its location
500 BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
501 ret = true;
502 }
391 503
392 // Make the child refresh its location 504 return ret;
393 BulletSimAPI.PushUpdate2(childPrim.Body.Ptr);
394 } 505 }
395 506
396 // Remove linkage between myself and any possible children I might have 507 // Remove linkage between myself and any possible children I might have.
397 // Called at taint time! 508 // Called at taint time!
398 private void PhysicallyUnlinkAllChildrenFromRoot(BSPrim rootPrim) 509 private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
399 { 510 {
400 // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); 511 DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
401 DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); 512 bool ret = false;
402 513
403 m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body); 514 if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody))
515 {
516 ret = true;
517 }
518 return ret;
404 } 519 }
405 520
406 // Invoke the detailed logger and output something if it's enabled. 521 // Call each of the constraints that make up this linkset and recompute the
407 private void DebugLog(string msg, params Object[] args) 522 // various transforms and variables. Used when objects are added or removed
523 // from a linkset to make sure the constraints know about the new mass and
524 // geometry.
525 // Must only be called at taint time!!
526 private void RecomputeLinksetConstraintVariables()
408 { 527 {
409 if (m_physicsScene.ShouldDebugLog) 528 float linksetMass = LinksetMass;
410 m_physicsScene.Logger.DebugFormat(msg, args); 529 foreach (BSPhysObject child in m_taintChildren)
530 {
531 BSConstraint constrain;
532 if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
533 {
534 // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
535 // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
536 constrain.RecomputeConstraintVariables(linksetMass);
537 }
538 else
539 {
540 // Non-fatal error that happens when children are being added to the linkset but
541 // their constraints have not been created yet.
542 break;
543 }
544 }
545
546 // If the whole linkset is not here, doesn't make sense to recompute linkset wide values
547 if (m_children.Count == m_taintChildren.Count)
548 {
549 // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
550 OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
551 BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr,
552 centerOfMass, OMV.Quaternion.Identity);
553 DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}",
554 LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"));
555 foreach (BSPhysObject child in m_taintChildren)
556 {
557 BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr,
558 centerOfMass, OMV.Quaternion.Identity);
559 }
560
561 // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG
562 }
563 return;
411 } 564 }
412 565
566
413 // Invoke the detailed logger and output something if it's enabled. 567 // Invoke the detailed logger and output something if it's enabled.
414 private void DetailLog(string msg, params Object[] args) 568 private void DetailLog(string msg, params Object[] args)
415 { 569 {
416 m_physicsScene.PhysicsLogging.Write(msg, args); 570 if (PhysicsScene.PhysicsLogging.Enabled)
571 PhysicsScene.DetailLog(msg, args);
417 } 572 }
418 573
419} 574}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
new file mode 100755
index 0000000..cae599c
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -0,0 +1,218 @@
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 public abstract OMV.Vector3 ForcePosition { get; set; }
85
86 public abstract OMV.Quaternion ForceOrientation { get; set; }
87
88 public abstract OMV.Vector3 ForceVelocity { get; set; }
89
90 public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
91
92 #region Collisions
93
94 // Requested number of milliseconds between collision events. Zero means disabled.
95 protected int SubscribedEventsMs { get; set; }
96 // Given subscription, the time that a collision may be passed up
97 protected int NextCollisionOkTime { get; set; }
98 // The simulation step that last had a collision
99 protected long CollidingStep { get; set; }
100 // The simulation step that last had a collision with the ground
101 protected long CollidingGroundStep { get; set; }
102 // The collision flags we think are set in Bullet
103 protected CollisionFlags CurrentCollisionFlags { get; set; }
104
105 // The collisions that have been collected this tick
106 protected CollisionEventUpdate CollisionCollection;
107
108 // The simulation step is telling this object about a collision.
109 // Return 'true' if a collision was processed and should be sent up.
110 // Called at taint time from within the Step() function
111 public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
112 OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
113 {
114 bool ret = false;
115
116 // The following lines make IsColliding() and IsCollidingGround() work
117 CollidingStep = PhysicsScene.SimulationStep;
118 if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
119 {
120 CollidingGroundStep = PhysicsScene.SimulationStep;
121 }
122
123 // prims in the same linkset cannot collide with each other
124 if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
125 {
126 return ret;
127 }
128
129 // if someone has subscribed for collision events....
130 if (SubscribedEvents()) {
131 CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
132 // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
133 // LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
134
135 ret = true;
136 }
137 return ret;
138 }
139
140 // Routine to send the collected collisions into the simulator.
141 // Also handles removal of this from the collection of objects with collisions if
142 // there are no collisions from this object. Mechanism is create one last
143 // collision event to make collision_end work.
144 // Called at taint time from within the Step() function thus no locking problems
145 // with CollisionCollection and ObjectsWithNoMoreCollisions.
146 // Return 'true' if there were some actual collisions passed up
147 public virtual bool SendCollisions()
148 {
149 bool ret = true;
150
151 // throttle the collisions to the number of milliseconds specified in the subscription
152 int nowTime = PhysicsScene.SimulationNowTime;
153 if (nowTime >= NextCollisionOkTime)
154 {
155 NextCollisionOkTime = nowTime + SubscribedEventsMs;
156
157 // We are called if we previously had collisions. If there are no collisions
158 // this time, send up one last empty event so OpenSim can sense collision end.
159 if (CollisionCollection.Count == 0)
160 {
161 // If I have no collisions this time, remove me from the list of objects with collisions.
162 ret = false;
163 }
164
165 // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
166 base.SendCollisionUpdate(CollisionCollection);
167
168 // The collisionCollection structure is passed around in the simulator.
169 // Make sure we don't have a handle to that one and that a new one is used for next time.
170 CollisionCollection = new CollisionEventUpdate();
171 }
172 return ret;
173 }
174
175 // Subscribe for collision events.
176 // Parameter is the millisecond rate the caller wishes collision events to occur.
177 public override void SubscribeEvents(int ms) {
178 // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
179 SubscribedEventsMs = ms;
180 if (ms > 0)
181 {
182 // make sure first collision happens
183 NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
184
185 PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
186 {
187 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
188 });
189 }
190 else
191 {
192 // Subscribing for zero or less is the same as unsubscribing
193 UnSubscribeEvents();
194 }
195 }
196 public override void UnSubscribeEvents() {
197 // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
198 SubscribedEventsMs = 0;
199 PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
200 {
201 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
202 });
203 }
204 // Return 'true' if the simulator wants collision events
205 public override bool SubscribedEvents() {
206 return (SubscribedEventsMs > 0);
207 }
208
209 #endregion // Collisions
210
211 // High performance detailed logging routine used by the physical objects.
212 protected void DetailLog(string msg, params Object[] args)
213 {
214 if (PhysicsScene.PhysicsLogging.Enabled)
215 PhysicsScene.DetailLog(msg, args);
216 }
217}
218}
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..6a4365c 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;
@@ -36,32 +39,20 @@ 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;
48 private PrimitiveBaseShape _pbs; 49 private PrimitiveBaseShape _pbs;
49 private ShapeData.PhysicsShapeType _shapeType;
50 private ulong _meshKey;
51 private ulong _hullKey;
52 private List<ConvexResult> _hulls;
53
54 private BSScene _scene;
55 public BSScene Scene { get { return _scene; } }
56 private String _avName;
57 private uint _localID = 0;
58 50
59 // _size is what the user passed. _scale is what we pass to the physics engine with the mesh. 51 // _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. 52 // 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 53 private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user
62 private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer 54 private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
63 55
64 private bool _stopped;
65 private bool _grabbed; 56 private bool _grabbed;
66 private bool _isSelected; 57 private bool _isSelected;
67 private bool _isVolumeDetect; 58 private bool _isVolumeDetect;
@@ -89,25 +80,6 @@ public sealed class BSPrim : PhysicsActor
89 private bool _kinematic; 80 private bool _kinematic;
90 private float _buoyancy; 81 private float _buoyancy;
91 82
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; 83 private BSDynamics _vehicle;
112 84
113 private OMV.Vector3 _PIDTarget; 85 private OMV.Vector3 _PIDTarget;
@@ -122,9 +94,8 @@ public sealed class BSPrim : PhysicsActor
122 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) 94 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
123 { 95 {
124 // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); 96 // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
125 _localID = localID; 97 base.BaseInitialize(parent_scene, localID, primName, "BSPrim");
126 _avName = primName; 98 _physicsActorType = (int)ActorTypes.Prim;
127 _scene = parent_scene;
128 _position = pos; 99 _position = pos;
129 _size = size; 100 _size = size;
130 _scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type 101 _scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type
@@ -132,98 +103,103 @@ public sealed class BSPrim : PhysicsActor
132 _buoyancy = 1f; 103 _buoyancy = 1f;
133 _velocity = OMV.Vector3.Zero; 104 _velocity = OMV.Vector3.Zero;
134 _rotationalVelocity = OMV.Vector3.Zero; 105 _rotationalVelocity = OMV.Vector3.Zero;
135 _hullKey = 0;
136 _meshKey = 0;
137 _pbs = pbs; 106 _pbs = pbs;
138 _isPhysical = pisPhysical; 107 _isPhysical = pisPhysical;
139 _isVolumeDetect = false; 108 _isVolumeDetect = false;
140 _subscribedEventsMs = 0; 109 _friction = PhysicsScene.Params.defaultFriction; // TODO: compute based on object material
141 _friction = _scene.Params.defaultFriction; // TODO: compute based on object material 110 _density = PhysicsScene.Params.defaultDensity; // TODO: compute based on object material
142 _density = _scene.Params.defaultDensity; // TODO: compute based on object material 111 _restitution = PhysicsScene.Params.defaultRestitution;
143 _restitution = _scene.Params.defaultRestitution; 112 _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(); 113 _mass = CalculateMass();
147 // do the actual object creation at taint time 114
115 // No body or shape yet
116 BSBody = new BulletBody(LocalID, IntPtr.Zero);
117 BSShape = new BulletShape(IntPtr.Zero);
118
148 DetailLog("{0},BSPrim.constructor,call", LocalID); 119 DetailLog("{0},BSPrim.constructor,call", LocalID);
149 _scene.TaintedObject("BSPrim.create", delegate() 120 // do the actual object creation at taint time
121 PhysicsScene.TaintedObject("BSPrim.create", delegate()
150 { 122 {
151 RecreateGeomAndObject(); 123 CreateGeomAndObject(true);
152 124
153 // Get the pointer to the physical body for this object. 125 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 }); 126 });
158 } 127 }
159 128
160 // called when this prim is being destroyed and we should free all the resources 129 // called when this prim is being destroyed and we should free all the resources
161 public void Destroy() 130 public override void Destroy()
162 { 131 {
163 // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); 132 // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
164 133
165 // Undo any links between me and any other object 134 // Undo any links between me and any other object
166 BSPrim parentBefore = _linkset.LinksetRoot; 135 BSPhysObject parentBefore = Linkset.LinksetRoot;
167 int childrenBefore = _linkset.NumberOfChildren; 136 int childrenBefore = Linkset.NumberOfChildren;
168 137
169 _linkset = _linkset.RemoveMeFromLinkset(this); 138 Linkset = Linkset.RemoveMeFromLinkset(this);
170 139
171 DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", 140 DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
172 LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); 141 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
173 142
174 // Undo any vehicle properties 143 // Undo any vehicle properties
175 this.VehicleType = (int)Vehicle.TYPE_NONE; 144 this.VehicleType = (int)Vehicle.TYPE_NONE;
176 145
177 _scene.TaintedObject("BSPrim.destroy", delegate() 146 PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
178 { 147 {
179 DetailLog("{0},BSPrim.Destroy,taint,", LocalID); 148 DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
180 // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. 149 // If there are physical body and shape, release my use of same.
181 BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); 150 PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
151 PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
182 }); 152 });
183 } 153 }
184 154
185 public override bool Stopped { 155 // No one uses this property.
186 get { return _stopped; } 156 public override bool Stopped {
157 get { return false; }
187 } 158 }
188 public override OMV.Vector3 Size { 159 public override OMV.Vector3 Size {
189 get { return _size; } 160 get { return _size; }
190 set { 161 set {
191 _size = value; 162 _size = value;
192 _scene.TaintedObject("BSPrim.setSize", delegate() 163 PhysicsScene.TaintedObject("BSPrim.setSize", delegate()
193 { 164 {
194 _mass = CalculateMass(); // changing size changes the mass 165 _mass = CalculateMass(); // changing size changes the mass
195 BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); 166 // 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); 167 // scale and margins are set.
197 RecreateGeomAndObject(); 168 CreateGeomAndObject(true);
169 // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
198 }); 170 });
199 } 171 }
172 }
173 // Scale is what we set in the physics engine. It is different than 'size' in that
174 // 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
175 public OMV.Vector3 Scale
176 {
177 get { return _scale; }
178 set { _scale = value; }
200 } 179 }
201 public override PrimitiveBaseShape Shape { 180 public override PrimitiveBaseShape Shape {
202 set { 181 set {
203 _pbs = value; 182 _pbs = value;
204 _scene.TaintedObject("BSPrim.setShape", delegate() 183 PhysicsScene.TaintedObject("BSPrim.setShape", delegate()
205 { 184 {
206 _mass = CalculateMass(); // changing the shape changes the mass 185 _mass = CalculateMass(); // changing the shape changes the mass
207 RecreateGeomAndObject(); 186 CreateGeomAndObject(true);
208 }); 187 });
209 } 188 }
210 }
211 public override uint LocalID {
212 set { _localID = value; }
213 get { return _localID; }
214 } 189 }
215 public override bool Grabbed { 190 public override bool Grabbed {
216 set { _grabbed = value; 191 set { _grabbed = value;
217 } 192 }
218 } 193 }
219 public override bool Selected { 194 public override bool Selected {
220 set { 195 set {
221 _isSelected = value; 196 _isSelected = value;
222 _scene.TaintedObject("BSPrim.setSelected", delegate() 197 PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
223 { 198 {
224 SetObjectDynamic(); 199 DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
200 SetObjectDynamic(false);
225 }); 201 });
226 } 202 }
227 } 203 }
228 public override void CrossingFailure() { return; } 204 public override void CrossingFailure() { return; }
229 205
@@ -232,158 +208,227 @@ public sealed class BSPrim : PhysicsActor
232 BSPrim parent = obj as BSPrim; 208 BSPrim parent = obj as BSPrim;
233 if (parent != null) 209 if (parent != null)
234 { 210 {
235 DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID); 211 BSPhysObject parentBefore = Linkset.LinksetRoot;
236 BSPrim parentBefore = _linkset.LinksetRoot; 212 int childrenBefore = Linkset.NumberOfChildren;
237 int childrenBefore = _linkset.NumberOfChildren;
238 213
239 _linkset = parent.Linkset.AddMeToLinkset(this); 214 Linkset = parent.Linkset.AddMeToLinkset(this);
240 215
241 DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", 216 DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
242 LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); 217 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
243 } 218 }
244 return; 219 return;
245 } 220 }
246 221
247 // delink me from my linkset 222 // delink me from my linkset
248 public override void delink() { 223 public override void delink() {
249 // TODO: decide if this parent checking needs to happen at taint time 224 // 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 225 // 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());
253 226
254 BSPrim parentBefore = _linkset.LinksetRoot; 227 BSPhysObject parentBefore = Linkset.LinksetRoot;
255 int childrenBefore = _linkset.NumberOfChildren; 228 int childrenBefore = Linkset.NumberOfChildren;
256 229
257 _linkset = _linkset.RemoveMeFromLinkset(this); 230 Linkset = Linkset.RemoveMeFromLinkset(this);
258 231
259 DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", 232 DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
260 LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); 233 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
261 return; 234 return;
262 } 235 }
263 236
264 // Set motion values to zero. 237 // Set motion values to zero.
265 // Do it to the properties so the values get set in the physics engine. 238 // Do it to the properties so the values get set in the physics engine.
266 // Push the setting of the values to the viewer. 239 // Push the setting of the values to the viewer.
267 // Called at taint time! 240 // Called at taint time!
268 public void ZeroMotion() 241 public override void ZeroMotion()
269 { 242 {
270 _velocity = OMV.Vector3.Zero; 243 _velocity = OMV.Vector3.Zero;
271 _acceleration = OMV.Vector3.Zero; 244 _acceleration = OMV.Vector3.Zero;
272 _rotationalVelocity = OMV.Vector3.Zero; 245 _rotationalVelocity = OMV.Vector3.Zero;
273 246
274 // Zero some other properties directly into the physics engine 247 // Zero some other properties directly into the physics engine
275 BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero); 248 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 } 249 }
280 250
281 public override void LockAngularMotion(OMV.Vector3 axis) 251 public override void LockAngularMotion(OMV.Vector3 axis)
282 { 252 {
283 // DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); 253 DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
284 return; 254 return;
285 } 255 }
286 256
287 public override OMV.Vector3 Position { 257 public override OMV.Vector3 Position {
288 get { 258 get {
289 if (!_linkset.IsRoot(this)) 259 if (!Linkset.IsRoot(this))
290 // child prims move around based on their parent. Need to get the latest location 260 // child prims move around based on their parent. Need to get the latest location
291 _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 261 _position = BulletSimAPI.GetPosition2(BSBody.ptr);
292 262
293 // don't do the GetObjectPosition for root elements because this function is called a zillion times 263 // don't do the GetObjectPosition for root elements because this function is called a zillion times
294 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 264 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
295 return _position; 265 return _position;
296 } 266 }
297 set { 267 set {
268 // If you must push the position into the physics engine, use ForcePosition.
269 if (_position == value)
270 {
271 return;
272 }
298 _position = value; 273 _position = value;
299 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? 274 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
300 _scene.TaintedObject("BSPrim.setPosition", delegate() 275 PositionSanityCheck();
276 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
301 { 277 {
302 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 278 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
303 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 279 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
304 }); 280 });
305 } 281 }
282 }
283 public override OMV.Vector3 ForcePosition {
284 get {
285 _position = BulletSimAPI.GetPosition2(BSBody.ptr);
286 return _position;
287 }
288 set {
289 _position = value;
290 PositionSanityCheck();
291 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
292 }
293 }
294
295 // Check that the current position is sane and, if not, modify the position to make it so.
296 // Check for being below terrain and being out of bounds.
297 // Returns 'true' of the position was made sane by some action.
298 private bool PositionSanityCheck()
299 {
300 bool ret = false;
301
302 // If totally below the ground, move the prim up
303 // TODO: figure out the right solution for this... only for dynamic objects?
304 /*
305 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
306 if (Position.Z < terrainHeight)
307 {
308 DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
309 _position.Z = terrainHeight + 2.0f;
310 ret = true;
311 }
312 */
313 if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
314 {
315 float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
316 if (Position.Z < waterHeight)
317 {
318 _position.Z = waterHeight;
319 ret = true;
320 }
321 }
322
323 // TODO: check for out of bounds
324 return ret;
325 }
326
327 // A version of the sanity check that also makes sure a new position value is
328 // pushed back to the physics engine. This routine would be used by anyone
329 // who is not already pushing the value.
330 private bool PositionSanityCheck2(bool inTaintTime)
331 {
332 bool ret = false;
333 if (PositionSanityCheck())
334 {
335 // The new position value must be pushed into the physics engine but we can't
336 // just assign to "Position" because of potential call loops.
337 BSScene.TaintCallback sanityOperation = delegate()
338 {
339 DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
340 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
341 };
342 if (inTaintTime)
343 sanityOperation();
344 else
345 PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
346
347 ret = true;
348 }
349 return ret;
306 } 350 }
307 351
308 // Return the effective mass of the object. 352 // Return the effective mass of the object.
309 // If there are multiple items in the linkset, add them together for the root 353 // If there are multiple items in the linkset, add them together for the root
310 public override float Mass 354 public override float Mass
311 { 355 {
312 get 356 get
313 { 357 {
314 return _linkset.LinksetMass; 358 // return Linkset.LinksetMass;
359 return _mass;
315 } 360 }
316 } 361 }
317 362
318 // used when we only want this prim's mass and not the linkset thing 363 // used when we only want this prim's mass and not the linkset thing
319 public float MassRaw { get { return _mass; } } 364 public override float MassRaw { get { return _mass; } }
320 365
321 // Is this used? 366 // Is this used?
322 public override OMV.Vector3 CenterOfMass 367 public override OMV.Vector3 CenterOfMass
323 { 368 {
324 get { return _linkset.CenterOfMass; } 369 get { return Linkset.CenterOfMass; }
325 } 370 }
326 371
327 // Is this used? 372 // Is this used?
328 public override OMV.Vector3 GeometricCenter 373 public override OMV.Vector3 GeometricCenter
329 { 374 {
330 get { return _linkset.GeometricCenter; } 375 get { return Linkset.GeometricCenter; }
331 } 376 }
332 377
333 public override OMV.Vector3 Force { 378 public override OMV.Vector3 Force {
334 get { return _force; } 379 get { return _force; }
335 set { 380 set {
336 _force = value; 381 _force = value;
337 _scene.TaintedObject("BSPrim.setForce", delegate() 382 PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
338 { 383 {
339 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); 384 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
340 // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 385 BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
341 BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
342 }); 386 });
343 } 387 }
344 } 388 }
345 389
346 public override int VehicleType { 390 public override int VehicleType {
347 get { 391 get {
348 return (int)_vehicle.Type; // if we are a vehicle, return that type 392 return (int)_vehicle.Type; // if we are a vehicle, return that type
349 } 393 }
350 set { 394 set {
351 Vehicle type = (Vehicle)value; 395 Vehicle type = (Vehicle)value;
352 BSPrim vehiclePrim = this; 396
353 _scene.TaintedObject("setVehicleType", delegate() 397 // Tell the scene about the vehicle so it will get processing each frame.
398 PhysicsScene.VehicleInSceneTypeChanged(this, type);
399
400 PhysicsScene.TaintedObject("setVehicleType", delegate()
354 { 401 {
355 // Done at taint time so we're sure the physics engine is not using the variables 402 // 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. 403 // Vehicle code changes the parameters for this vehicle type.
357 _vehicle.ProcessTypeChange(type); 404 this._vehicle.ProcessTypeChange(type);
358 // Tell the scene about the vehicle so it will get processing each frame.
359 _scene.VehicleInSceneTypeChanged(this, type);
360 }); 405 });
361 } 406 }
362 } 407 }
363 public override void VehicleFloatParam(int param, float value) 408 public override void VehicleFloatParam(int param, float value)
364 { 409 {
365 _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate() 410 PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
366 { 411 {
367 _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); 412 _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
368 }); 413 });
369 } 414 }
370 public override void VehicleVectorParam(int param, OMV.Vector3 value) 415 public override void VehicleVectorParam(int param, OMV.Vector3 value)
371 { 416 {
372 _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate() 417 PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
373 { 418 {
374 _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); 419 _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
375 }); 420 });
376 } 421 }
377 public override void VehicleRotationParam(int param, OMV.Quaternion rotation) 422 public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
378 { 423 {
379 _scene.TaintedObject("BSPrim.VehicleRotationParam", delegate() 424 PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
380 { 425 {
381 _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); 426 _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
382 }); 427 });
383 } 428 }
384 public override void VehicleFlags(int param, bool remove) 429 public override void VehicleFlags(int param, bool remove)
385 { 430 {
386 _scene.TaintedObject("BSPrim.VehicleFlags", delegate() 431 PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
387 { 432 {
388 _vehicle.ProcessVehicleFlags(param, remove); 433 _vehicle.ProcessVehicleFlags(param, remove);
389 }); 434 });
@@ -391,83 +436,114 @@ public sealed class BSPrim : PhysicsActor
391 436
392 // Called each simulation step to advance vehicle characteristics. 437 // Called each simulation step to advance vehicle characteristics.
393 // Called from Scene when doing simulation step so we're in taint processing time. 438 // Called from Scene when doing simulation step so we're in taint processing time.
394 public void StepVehicle(float timeStep) 439 public override void StepVehicle(float timeStep)
395 { 440 {
396 if (IsPhysical) 441 if (IsPhysical)
442 {
397 _vehicle.Step(timeStep); 443 _vehicle.Step(timeStep);
444 }
398 } 445 }
399 446
400 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more 447 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
401 public override void SetVolumeDetect(int param) { 448 public override void SetVolumeDetect(int param) {
402 bool newValue = (param != 0); 449 bool newValue = (param != 0);
403 _isVolumeDetect = newValue; 450 if (_isVolumeDetect != newValue)
404 _scene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
405 { 451 {
406 SetObjectDynamic(); 452 _isVolumeDetect = newValue;
407 }); 453 PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
408 return; 454 {
455 // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
456 SetObjectDynamic(true);
457 });
458 }
459 return;
409 } 460 }
410 461 public override OMV.Vector3 Velocity {
411 public override OMV.Vector3 Velocity { 462 get { return _velocity; }
412 get { return _velocity; }
413 set { 463 set {
414 _velocity = value; 464 _velocity = value;
415 _scene.TaintedObject("BSPrim.setVelocity", delegate() 465 PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
416 { 466 {
417 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); 467 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
418 BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); 468 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
419 }); 469 });
420 } 470 }
421 } 471 }
422 public override OMV.Vector3 Torque { 472 public override OMV.Vector3 ForceVelocity {
423 get { return _torque; } 473 get { return _velocity; }
424 set { _torque = value; 474 set {
475 _velocity = value;
476 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
477 }
478 }
479 public override OMV.Vector3 Torque {
480 get { return _torque; }
481 set { _torque = value;
425 // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); 482 // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
426 } 483 }
427 } 484 }
428 public override float CollisionScore { 485 public override float CollisionScore {
429 get { return _collisionScore; } 486 get { return _collisionScore; }
430 set { _collisionScore = value; 487 set { _collisionScore = value;
431 } 488 }
432 } 489 }
433 public override OMV.Vector3 Acceleration { 490 public override OMV.Vector3 Acceleration {
434 get { return _acceleration; } 491 get { return _acceleration; }
435 set { _acceleration = value; } 492 set { _acceleration = value; }
436 } 493 }
437 public override OMV.Quaternion Orientation { 494 public override OMV.Quaternion Orientation {
438 get { 495 get {
439 if (!_linkset.IsRoot(this)) 496 if (!Linkset.IsRoot(this))
440 { 497 {
441 // Children move around because tied to parent. Get a fresh value. 498 // Children move around because tied to parent. Get a fresh value.
442 _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID); 499 _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
443 } 500 }
444 return _orientation; 501 return _orientation;
445 } 502 }
446 set { 503 set {
504 if (_orientation == value)
505 return;
447 _orientation = value; 506 _orientation = value;
448 // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? 507 // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
449 _scene.TaintedObject("BSPrim.setOrientation", delegate() 508 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
450 { 509 {
451 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 510 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
452 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); 511 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
453 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 512 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
454 }); 513 });
455 } 514 }
515 }
516 // Go directly to Bullet to get/set the value.
517 public override OMV.Quaternion ForceOrientation
518 {
519 get
520 {
521 _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
522 return _orientation;
523 }
524 set
525 {
526 _orientation = value;
527 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
528 }
456 } 529 }
457 public override int PhysicsActorType { 530 public override int PhysicsActorType {
458 get { return _physicsActorType; } 531 get { return _physicsActorType; }
459 set { _physicsActorType = value; 532 set { _physicsActorType = value; }
460 }
461 } 533 }
462 public override bool IsPhysical { 534 public override bool IsPhysical {
463 get { return _isPhysical; } 535 get { return _isPhysical; }
464 set { 536 set {
465 _isPhysical = value; 537 if (_isPhysical != value)
466 _scene.TaintedObject("BSPrim.setIsPhysical", delegate()
467 { 538 {
468 SetObjectDynamic(); 539 _isPhysical = value;
469 }); 540 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
470 } 541 {
542 // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
543 SetObjectDynamic(true);
544 });
545 }
546 }
471 } 547 }
472 548
473 // An object is static (does not move) if selected or not physical 549 // An object is static (does not move) if selected or not physical
@@ -477,57 +553,201 @@ public sealed class BSPrim : PhysicsActor
477 } 553 }
478 554
479 // An object is solid if it's not phantom and if it's not doing VolumeDetect 555 // An object is solid if it's not phantom and if it's not doing VolumeDetect
480 private bool IsSolid 556 public bool IsSolid
481 { 557 {
482 get { return !IsPhantom && !_isVolumeDetect; } 558 get { return !IsPhantom && !_isVolumeDetect; }
483 } 559 }
484 560
485 // Make gravity work if the object is physical and not selected 561 // Make gravity work if the object is physical and not selected
486 // No locking here because only called when it is safe 562 // Called at taint-time!!
487 private void SetObjectDynamic() 563 private void SetObjectDynamic(bool forceRebuild)
564 {
565 // Recreate the physical object if necessary
566 CreateGeomAndObject(forceRebuild);
567 }
568
569 // Convert the simulator's physical properties into settings on BulletSim objects.
570 // There are four flags we're interested in:
571 // IsStatic: Object does not move, otherwise the object has mass and moves
572 // isSolid: other objects bounce off of this object
573 // isVolumeDetect: other objects pass through but can generate collisions
574 // collisionEvents: whether this object returns collision events
575 private void UpdatePhysicalParameters()
576 {
577 // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
578
579 // Mangling all the physical properties requires the object not be in the physical world.
580 // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
581 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
582
583 // Set up the object physicalness (does gravity and collisions move this object)
584 MakeDynamic(IsStatic);
585
586 // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
587 _vehicle.Refresh();
588
589 // Arrange for collision events if the simulator wants them
590 EnableCollisions(SubscribedEvents());
591
592 // Make solid or not (do things bounce off or pass through this object).
593 MakeSolid(IsSolid);
594
595 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
596
597 // Rebuild its shape
598 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
599
600 // Collision filter can be set only when the object is in the world
601 if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
602 {
603 BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
604 }
605
606 // Recompute any linkset parameters.
607 // When going from non-physical to physical, this re-enables the constraints that
608 // had been automatically disabled when the mass was set to zero.
609 Linkset.Refresh(this, true);
610
611 DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
612 LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
613 }
614
615 // "Making dynamic" means changing to and from static.
616 // When static, gravity does not effect the object and it is fixed in space.
617 // When dynamic, the object can fall and be pushed by others.
618 // This is independent of its 'solidness' which controls what passes through
619 // this object and what interacts with it.
620 private void MakeDynamic(bool makeStatic)
488 { 621 {
489 // RA: remove this for the moment. 622 if (makeStatic)
490 // The problem is that dynamic objects are hulls so if we are becoming physical 623 {
491 // the shape has to be checked and possibly built. 624 // Become a Bullet 'static' object type
492 // Maybe a VerifyCorrectPhysicalShape() routine? 625 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
493 // RecreateGeomAndObject(); 626 // Stop all movement
627 BulletSimAPI.ClearAllForces2(BSBody.ptr);
628 // Center of mass is at the center of the object
629 BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
630 // Mass is zero which disables a bunch of physics stuff in Bullet
631 BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
632 // There is no inertia in a static object
633 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
634 // There can be special things needed for implementing linksets
635 Linkset.MakeStatic(this);
636 // The activation state is 'disabled' so Bullet will not try to act on it.
637 BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
638 // Start it out sleeping and physical actions could wake it up.
639 // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
640
641 BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
642 BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
643 }
644 else
645 {
646 // Not a Bullet static object
647 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
648
649 // Set various physical properties so internal dynamic properties will get computed correctly as they are set
650 BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction);
651 BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
652
653 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
654 BulletSimAPI.ClearAllForces2(BSBody.ptr);
655
656 // For good measure, make sure the transform is set through to the motion state
657 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
658
659 // A dynamic object has mass
660 IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
661 OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
662 BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
663 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
494 664
495 // Bullet wants static objects to have a mass of zero 665 // Various values for simulation limits
496 float mass = IsStatic ? 0f : _mass; 666 BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
667 BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
668 BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
669 BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
497 670
498 BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); 671 // There might be special things needed for implementing linksets.
672 Linkset.MakeDynamic(this);
673
674 // Force activation of the object so Bullet will act on it.
675 // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
676 BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
677 // BulletSimAPI.Activate2(BSBody.ptr, true);
678
679 BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
680 BSBody.collisionMask = CollisionFilterGroups.ObjectMask;
681 }
682 }
499 683
500 // recompute any linkset parameters 684 // "Making solid" means that other object will not pass through this object.
501 _linkset.Refresh(this); 685 // To make transparent, we create a Bullet ghost object.
686 // Note: This expects to be called from the UpdatePhysicalParameters() routine as
687 // the functions after this one set up the state of a possibly newly created collision body.
688 private void MakeSolid(bool makeSolid)
689 {
690 CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
691 if (makeSolid)
692 {
693 // Verify the previous code created the correct shape for this type of thing.
694 if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
695 {
696 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
697 }
698 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
699 }
700 else
701 {
702 if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
703 {
704 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
705 }
706 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
707 BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
708 BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
709 }
710 }
502 711
503 CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); 712 // Turn on or off the flag controlling whether collision events are returned to the simulator.
504 // DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); 713 private void EnableCollisions(bool wantsCollisionEvents)
714 {
715 if (wantsCollisionEvents)
716 {
717 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
718 }
719 else
720 {
721 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
722 }
505 } 723 }
506 724
507 // prims don't fly 725 // prims don't fly
508 public override bool Flying { 726 public override bool Flying {
509 get { return _flying; } 727 get { return _flying; }
510 set { _flying = value; } 728 set {
729 _flying = value;
730 }
511 } 731 }
512 public override bool SetAlwaysRun { 732 public override bool SetAlwaysRun {
513 get { return _setAlwaysRun; } 733 get { return _setAlwaysRun; }
514 set { _setAlwaysRun = value; } 734 set { _setAlwaysRun = value; }
515 } 735 }
516 public override bool ThrottleUpdates { 736 public override bool ThrottleUpdates {
517 get { return _throttleUpdates; } 737 get { return _throttleUpdates; }
518 set { _throttleUpdates = value; } 738 set { _throttleUpdates = value; }
519 } 739 }
520 public override bool IsColliding { 740 public override bool IsColliding {
521 get { return (_collidingStep == _scene.SimulationStep); } 741 get { return (CollidingStep == PhysicsScene.SimulationStep); }
522 set { _isColliding = value; } 742 set { _isColliding = value; }
523 } 743 }
524 public override bool CollidingGround { 744 public override bool CollidingGround {
525 get { return (_collidingGroundStep == _scene.SimulationStep); } 745 get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
526 set { _collidingGround = value; } 746 set { _collidingGround = value; }
527 } 747 }
528 public override bool CollidingObj { 748 public override bool CollidingObj {
529 get { return _collidingObj; } 749 get { return _collidingObj; }
530 set { _collidingObj = value; } 750 set { _collidingObj = value; }
531 } 751 }
532 public bool IsPhantom { 752 public bool IsPhantom {
533 get { 753 get {
@@ -537,10 +757,19 @@ public sealed class BSPrim : PhysicsActor
537 return false; 757 return false;
538 } 758 }
539 } 759 }
540 public override bool FloatOnWater { 760 public override bool FloatOnWater {
541 set { _floatOnWater = value; } 761 set {
762 _floatOnWater = value;
763 PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
764 {
765 if (_floatOnWater)
766 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
767 else
768 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
769 });
770 }
542 } 771 }
543 public override OMV.Vector3 RotationalVelocity { 772 public override OMV.Vector3 RotationalVelocity {
544 get { 773 get {
545 /* 774 /*
546 OMV.Vector3 pv = OMV.Vector3.Zero; 775 OMV.Vector3 pv = OMV.Vector3.Zero;
@@ -552,58 +781,69 @@ public sealed class BSPrim : PhysicsActor
552 */ 781 */
553 782
554 return _rotationalVelocity; 783 return _rotationalVelocity;
555 } 784 }
556 set { 785 set {
557 _rotationalVelocity = value; 786 _rotationalVelocity = value;
558 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); 787 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
559 _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate() 788 PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
560 { 789 {
561 // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); 790 // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
562 BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); 791 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
563 }); 792 });
564 } 793 }
794 }
795 public override OMV.Vector3 ForceRotationalVelocity {
796 get {
797 return _rotationalVelocity;
798 }
799 set {
800 _rotationalVelocity = value;
801 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
802 }
565 } 803 }
566 public override bool Kinematic { 804 public override bool Kinematic {
567 get { return _kinematic; } 805 get { return _kinematic; }
568 set { _kinematic = value; 806 set { _kinematic = value;
569 // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic); 807 // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
570 } 808 }
571 } 809 }
572 public override float Buoyancy { 810 public override float Buoyancy {
573 get { return _buoyancy; } 811 get { return _buoyancy; }
574 set { 812 set {
575 _buoyancy = value; 813 _buoyancy = value;
576 _scene.TaintedObject("BSPrim.setBuoyancy", delegate() 814 PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
577 { 815 {
578 // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 816 // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
579 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); 817 // Buoyancy is faked by changing the gravity applied to the object
818 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
819 BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
580 }); 820 });
581 } 821 }
582 } 822 }
583 823
584 // Used for MoveTo 824 // Used for MoveTo
585 public override OMV.Vector3 PIDTarget { 825 public override OMV.Vector3 PIDTarget {
586 set { _PIDTarget = value; } 826 set { _PIDTarget = value; }
587 } 827 }
588 public override bool PIDActive { 828 public override bool PIDActive {
589 set { _usePID = value; } 829 set { _usePID = value; }
590 } 830 }
591 public override float PIDTau { 831 public override float PIDTau {
592 set { _PIDTau = value; } 832 set { _PIDTau = value; }
593 } 833 }
594 834
595 // Used for llSetHoverHeight and maybe vehicle height 835 // Used for llSetHoverHeight and maybe vehicle height
596 // Hover Height will override MoveTo target's Z 836 // Hover Height will override MoveTo target's Z
597 public override bool PIDHoverActive { 837 public override bool PIDHoverActive {
598 set { _useHoverPID = value; } 838 set { _useHoverPID = value; }
599 } 839 }
600 public override float PIDHoverHeight { 840 public override float PIDHoverHeight {
601 set { _PIDHoverHeight = value; } 841 set { _PIDHoverHeight = value; }
602 } 842 }
603 public override PIDHoverType PIDHoverType { 843 public override PIDHoverType PIDHoverType {
604 set { _PIDHoverType = value; } 844 set { _PIDHoverType = value; }
605 } 845 }
606 public override float PIDHoverTau { 846 public override float PIDHoverTau {
607 set { _PIDHoverTao = value; } 847 set { _PIDHoverTao = value; }
608 } 848 }
609 849
@@ -615,6 +855,9 @@ public sealed class BSPrim : PhysicsActor
615 855
616 private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>(); 856 private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
617 public override void AddForce(OMV.Vector3 force, bool pushforce) { 857 public override void AddForce(OMV.Vector3 force, bool pushforce) {
858 AddForce(force, pushforce, false);
859 }
860 public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
618 // for an object, doesn't matter if force is a pushforce or not 861 // for an object, doesn't matter if force is a pushforce or not
619 if (force.IsFinite()) 862 if (force.IsFinite())
620 { 863 {
@@ -624,56 +867,38 @@ public sealed class BSPrim : PhysicsActor
624 } 867 }
625 else 868 else
626 { 869 {
627 m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); 870 m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
628 return; 871 return;
629 } 872 }
630 _scene.TaintedObject("BSPrim.AddForce", delegate() 873 BSScene.TaintCallback addForceOperation = delegate()
631 { 874 {
632 OMV.Vector3 fSum = OMV.Vector3.Zero; 875 OMV.Vector3 fSum = OMV.Vector3.Zero;
633 lock (m_accumulatedForces) 876 lock (m_accumulatedForces)
634 { 877 {
878 // Sum the accumulated additional forces for one big force to apply once.
635 foreach (OMV.Vector3 v in m_accumulatedForces) 879 foreach (OMV.Vector3 v in m_accumulatedForces)
636 { 880 {
637 fSum += v; 881 fSum += v;
638 } 882 }
639 m_accumulatedForces.Clear(); 883 m_accumulatedForces.Clear();
640 } 884 }
641 // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); 885 // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
642 BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); 886 // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
643 }); 887 BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
888 };
889 if (inTaintTime)
890 addForceOperation();
891 else
892 PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation);
644 } 893 }
645 894
646 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 895 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
647 // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); 896 // 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); 897 // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
649 } 898 }
650 public override void SetMomentum(OMV.Vector3 momentum) { 899 public override void SetMomentum(OMV.Vector3 momentum) {
651 // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); 900 // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
652 } 901 }
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 902 #region Mass Calculation
678 903
679 private float CalculateMass() 904 private float CalculateMass()
@@ -683,8 +908,8 @@ public sealed class BSPrim : PhysicsActor
683 908
684 float returnMass = 0; 909 float returnMass = 0;
685 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; 910 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
686 float hollowVolume = hollowAmount * hollowAmount; 911 float hollowVolume = hollowAmount * hollowAmount;
687 912
688 switch (_pbs.ProfileShape) 913 switch (_pbs.ProfileShape)
689 { 914 {
690 case ProfileShape.Square: 915 case ProfileShape.Square:
@@ -720,16 +945,16 @@ public sealed class BSPrim : PhysicsActor
720 945
721 else if (_pbs.PathCurve == (byte)Extrusion.Curve1) 946 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
722 { 947 {
723 //a tube 948 //a tube
724 949
725 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); 950 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
726 tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); 951 tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY);
727 volume -= volume*tmp*tmp; 952 volume -= volume*tmp*tmp;
728 953
729 if (hollowAmount > 0.0) 954 if (hollowAmount > 0.0)
730 { 955 {
731 hollowVolume *= hollowAmount; 956 hollowVolume *= hollowAmount;
732 957
733 switch (_pbs.HollowShape) 958 switch (_pbs.HollowShape)
734 { 959 {
735 case HollowShape.Square: 960 case HollowShape.Square:
@@ -788,7 +1013,7 @@ public sealed class BSPrim : PhysicsActor
788 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); 1013 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
789 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); 1014 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
790 volume *= (1.0f - tmp * tmp); 1015 volume *= (1.0f - tmp * tmp);
791 1016
792 if (hollowAmount > 0.0) 1017 if (hollowAmount > 0.0)
793 { 1018 {
794 1019
@@ -967,296 +1192,65 @@ public sealed class BSPrim : PhysicsActor
967 if (returnMass <= 0) 1192 if (returnMass <= 0)
968 returnMass = 0.0001f; 1193 returnMass = 0.0001f;
969 1194
970 if (returnMass > _scene.MaximumObjectMass) 1195 if (returnMass > PhysicsScene.MaximumObjectMass)
971 returnMass = _scene.MaximumObjectMass; 1196 returnMass = PhysicsScene.MaximumObjectMass;
972 1197
973 return returnMass; 1198 return returnMass;
974 }// end CalculateMass 1199 }// end CalculateMass
975 #endregion Mass Calculation 1200 #endregion Mass Calculation
976 1201
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 1202 // Copy prim's info into the BulletSim shape description structure
1233 public void FillShapeInfo(out ShapeData shape) 1203 public void FillShapeInfo(out ShapeData shape)
1234 { 1204 {
1235 shape.ID = _localID; 1205 shape.ID = LocalID;
1236 shape.Type = _shapeType; 1206 shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
1237 shape.Position = _position; 1207 shape.Position = _position;
1238 shape.Rotation = _orientation; 1208 shape.Rotation = _orientation;
1239 shape.Velocity = _velocity; 1209 shape.Velocity = _velocity;
1240 shape.Scale = _scale; 1210 shape.Scale = _scale;
1241 shape.Mass = _isPhysical ? _mass : 0f; 1211 shape.Mass = _isPhysical ? _mass : 0f;
1242 shape.Buoyancy = _buoyancy; 1212 shape.Buoyancy = _buoyancy;
1243 shape.HullKey = _hullKey; 1213 shape.HullKey = 0;
1244 shape.MeshKey = _meshKey; 1214 shape.MeshKey = 0;
1245 shape.Friction = _friction; 1215 shape.Friction = _friction;
1246 shape.Restitution = _restitution; 1216 shape.Restitution = _restitution;
1247 shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; 1217 shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
1248 shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; 1218 shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
1219 shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
1220 shape.Size = _size;
1249 } 1221 }
1250
1251
1252 // Rebuild the geometry and object. 1222 // Rebuild the geometry and object.
1253 // This is called when the shape changes so we need to recreate the mesh/hull. 1223 // 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 1224 // Called at taint-time!!!
1255 private void RecreateGeomAndObject() 1225 private void CreateGeomAndObject(bool forceRebuild)
1256 { 1226 {
1257 // m_log.DebugFormat("{0}: RecreateGeomAndObject. lID={1}", LogHeader, _localID); 1227 ShapeData shapeData;
1258 if (CreateGeom(true)) 1228 FillShapeInfo(out shapeData);
1259 CreateObject(); 1229
1230 // If this prim is part of a linkset, we must remove and restore the physical
1231 // links of the body is rebuilt.
1232 bool needToRestoreLinkset = false;
1233
1234 // Create the correct physical representation for this type of object.
1235 // Updates BSBody and BSShape with the new information.
1236 // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
1237 PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs,
1238 null, delegate(BulletBody dBody)
1239 {
1240 // Called if the current prim body is about to be destroyed.
1241 // Remove all the physical dependencies on the old body.
1242 // (Maybe someday make the changing of BSShape an event handled by BSLinkset.)
1243 needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
1244 });
1245
1246 if (needToRestoreLinkset)
1247 {
1248 // If physical body dependencies were removed, restore them
1249 Linkset.RestoreBodyDependencies(this);
1250 }
1251
1252 // Make sure the properties are set on the new object
1253 UpdatePhysicalParameters();
1260 return; 1254 return;
1261 } 1255 }
1262 1256
@@ -1277,7 +1271,7 @@ public sealed class BSPrim : PhysicsActor
1277 const float ACCELERATION_TOLERANCE = 0.01f; 1271 const float ACCELERATION_TOLERANCE = 0.01f;
1278 const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; 1272 const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
1279 1273
1280 public void UpdateProperties(EntityProperties entprop) 1274 public override void UpdateProperties(EntityProperties entprop)
1281 { 1275 {
1282 /* 1276 /*
1283 UpdatedProperties changed = 0; 1277 UpdatedProperties changed = 0;
@@ -1325,7 +1319,7 @@ public sealed class BSPrim : PhysicsActor
1325 // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. 1319 // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
1326 1320
1327 // Updates only for individual prims and for the root object of a linkset. 1321 // Updates only for individual prims and for the root object of a linkset.
1328 if (_linkset.IsRoot(this)) 1322 if (Linkset.IsRoot(this))
1329 { 1323 {
1330 // Assign to the local variables so the normal set action does not happen 1324 // Assign to the local variables so the normal set action does not happen
1331 _position = entprop.Position; 1325 _position = entprop.Position;
@@ -1334,69 +1328,26 @@ public sealed class BSPrim : PhysicsActor
1334 _acceleration = entprop.Acceleration; 1328 _acceleration = entprop.Acceleration;
1335 _rotationalVelocity = entprop.RotationalVelocity; 1329 _rotationalVelocity = entprop.RotationalVelocity;
1336 1330
1337 // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", 1331 PositionSanityCheck2(true);
1338 // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); 1332
1339 // DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 1333 Linkset.UpdateProperties(this);
1340 // LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); 1334
1335 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
1336 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
1337
1338 // BulletSimAPI.DumpRigidBody2(Scene.World.Ptr, BSBody.Ptr);
1341 1339
1342 base.RequestPhysicsterseUpdate(); 1340 base.RequestPhysicsterseUpdate();
1343 } 1341 }
1344 /* 1342 /*
1345 else 1343 else
1346 { 1344 {
1347 // For debugging, we also report the movement of children 1345 // For debugging, report the movement of children
1348 DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 1346 DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
1349 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 1347 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
1350 entprop.Acceleration, entprop.RotationalVelocity); 1348 entprop.Acceleration, entprop.RotationalVelocity);
1351 } 1349 }
1352 */ 1350 */
1353 } 1351 }
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} 1352}
1402} 1353}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index a31c578..2c3c481 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -39,33 +39,27 @@ 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// Test sculpties (verified that they don't work)
43// Test with multiple regions in one simulator
44// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
45// Test sculpties
46// Compute physics FPS reasonably 43// Compute physics FPS reasonably
47// Based on material, set density and friction 44// Based on material, set density and friction
48// More efficient memory usage when passing hull information from BSPrim to BulletSim 45// 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? 46// 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) 47// 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 48// At the moment, physical and phantom causes object to drop through the terrain
53// Physical phantom objects and related typing (collision options ) 49// 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. 50// Check out llVolumeDetect. Must do something for that.
51// Use collision masks for collision with terrain and phantom objects
52// 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? 53// 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. 54// 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 55// 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 56// Implement LockAngularMotion
62// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) 57// 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. 58// 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? 59// Add PID movement operations. What does ScenePresence.MoveToTarget do?
66// Check terrain size. 128 or 127? 60// Check terrain size. 128 or 127?
67// Raycast 61// Raycast
68// 62//
69namespace OpenSim.Region.Physics.BulletSPlugin 63namespace OpenSim.Region.Physics.BulletSPlugin
70{ 64{
71public class BSScene : PhysicsScene, IPhysicsParameters 65public class BSScene : PhysicsScene, IPhysicsParameters
@@ -73,62 +67,56 @@ public class BSScene : PhysicsScene, IPhysicsParameters
73 private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); 67 private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
74 private static readonly string LogHeader = "[BULLETS SCENE]"; 68 private static readonly string LogHeader = "[BULLETS SCENE]";
75 69
76 public void DebugLog(string mm, params Object[] xx) { if (ShouldDebugLog) m_log.DebugFormat(mm, xx); } 70 // The name of the region we're working for.
71 public string RegionName { get; private set; }
77 72
78 public string BulletSimVersion = "?"; 73 public string BulletSimVersion = "?";
79 74
80 private Dictionary<uint, BSCharacter> m_avatars = new Dictionary<uint, BSCharacter>(); 75 public Dictionary<uint, BSPhysObject> PhysObjects;
81 private Dictionary<uint, BSPrim> m_prims = new Dictionary<uint, BSPrim>(); 76 public BSShapeCollection Shapes;
82 private HashSet<BSCharacter> m_avatarsWithCollisions = new HashSet<BSCharacter>();
83 private HashSet<BSPrim> m_primsWithCollisions = new HashSet<BSPrim>();
84 private List<BSPrim> m_vehicles = new List<BSPrim>();
85 private float[] m_heightMap;
86 private float m_waterLevel;
87 private uint m_worldID;
88 public uint WorldID { get { return m_worldID; } }
89 77
90 // let my minuions use my logger 78 // Keeping track of the objects with collisions so we can report begin and end of a collision
91 public ILog Logger { get { return m_log; } } 79 public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
80 public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
81 // Keep track of all the avatars so we can send them a collision event
82 // every tick so OpenSim will update its animation.
83 private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
92 84
93 private bool m_initialized = false; 85 // List of all the objects that have vehicle properties and should be called
86 // to update each physics step.
87 private List<BSPhysObject> m_vehicles = new List<BSPhysObject>();
94 88
95 private int m_detailedStatsStep = 0; 89 // let my minuions use my logger
90 public ILog Logger { get { return m_log; } }
96 91
97 public IMesher mesher; 92 public IMesher mesher;
98 private float m_meshLOD; 93 // Level of Detail values kept as float because that's what the Meshmerizer wants
99 public float MeshLOD 94 public float MeshLOD { get; private set; }
100 { 95 public float MeshMegaPrimLOD { get; private set; }
101 get { return m_meshLOD; } 96 public float MeshMegaPrimThreshold { get; private set; }
102 } 97 public float SculptLOD { get; private set; }
103 private float m_sculptLOD;
104 public float SculptLOD
105 {
106 get { return m_sculptLOD; }
107 }
108 98
109 private BulletSim m_worldSim; 99 public uint WorldID { get; private set; }
110 public BulletSim World 100 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 }
119 101
102 // All the constraints that have been allocated in this instance.
103 public BSConstraintCollection Constraints { get; private set; }
104
105 // Simulation parameters
120 private int m_maxSubSteps; 106 private int m_maxSubSteps;
121 private float m_fixedTimeStep; 107 private float m_fixedTimeStep;
122 private long m_simulationStep = 0; 108 private long m_simulationStep = 0;
123 public long SimulationStep { get { return m_simulationStep; } } 109 public long SimulationStep { get { return m_simulationStep; } }
124 110 private int m_taintsToProcessPerStep;
125 public float LastSimulatedTimestep { get; private set; }
126 111
127 // A value of the time now so all the collision and update routines do not have to get their own 112 // 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 113 // Set to 'now' just before all the prims and actors are called for collisions and updates
129 private int m_simulationNowTime; 114 public int SimulationNowTime { get; private set; }
130 public int SimulationNowTime { get { return m_simulationNowTime; } } 115
116 // True if initialized and ready to do simulation steps
117 private bool m_initialized = false;
131 118
119 // Pinned memory used to pass step information between managed and unmanaged
132 private int m_maxCollisionsPerFrame; 120 private int m_maxCollisionsPerFrame;
133 private CollisionDesc[] m_collisionArray; 121 private CollisionDesc[] m_collisionArray;
134 private GCHandle m_collisionArrayPinnedHandle; 122 private GCHandle m_collisionArrayPinnedHandle;
@@ -137,14 +125,19 @@ public class BSScene : PhysicsScene, IPhysicsParameters
137 private EntityProperties[] m_updateArray; 125 private EntityProperties[] m_updateArray;
138 private GCHandle m_updateArrayPinnedHandle; 126 private GCHandle m_updateArrayPinnedHandle;
139 127
140 private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed 128 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 129 public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
130 public bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
142 131
143 public float PID_D { get; private set; } // derivative 132 public float PID_D { get; private set; } // derivative
144 public float PID_P { get; private set; } // proportional 133 public float PID_P { get; private set; } // proportional
145 134
146 public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero 135 public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
147 public const uint GROUNDPLANE_ID = 1; 136 public const uint GROUNDPLANE_ID = 1;
137 public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here
138
139 private float m_waterLevel;
140 public BSTerrainManager TerrainManager { get; private set; }
148 141
149 public ConfigurationParameters Params 142 public ConfigurationParameters Params
150 { 143 {
@@ -154,13 +147,18 @@ public class BSScene : PhysicsScene, IPhysicsParameters
154 { 147 {
155 get { return new Vector3(0f, 0f, Params.gravity); } 148 get { return new Vector3(0f, 0f, Params.gravity); }
156 } 149 }
157 150 // Just the Z value of the gravity
158 private float m_maximumObjectMass; 151 public float DefaultGravityZ
159 public float MaximumObjectMass
160 { 152 {
161 get { return m_maximumObjectMass; } 153 get { return Params.gravity; }
162 } 154 }
163 155
156 public float MaximumObjectMass { get; private set; }
157
158 // When functions in the unmanaged code must be called, it is only
159 // done at a known time just before the simulation step. The taint
160 // system saves all these function calls and executes them in
161 // order before the simulation.
164 public delegate void TaintCallback(); 162 public delegate void TaintCallback();
165 private struct TaintCallbackEntry 163 private struct TaintCallbackEntry
166 { 164 {
@@ -172,15 +170,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
172 callback = c; 170 callback = c;
173 } 171 }
174 } 172 }
173 private Object _taintLock = new Object(); // lock for using the next object
175 private List<TaintCallbackEntry> _taintedObjects; 174 private List<TaintCallbackEntry> _taintedObjects;
176 private Object _taintLock = new Object();
177 175
178 // A pointer to an instance if this structure is passed to the C++ code 176 // A pointer to an instance if this structure is passed to the C++ code
177 // Used to pass basic configuration values to the unmanaged code.
179 ConfigurationParameters[] m_params; 178 ConfigurationParameters[] m_params;
180 GCHandle m_paramsHandle; 179 GCHandle m_paramsHandle;
181 180
182 public bool ShouldDebugLog { get; private set; } 181 // Handle to the callback used by the unmanaged code to call into the managed code.
183 182 // Used for debug logging.
183 // Need to store the handle in a persistant variable so it won't be freed.
184 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; 184 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
185 185
186 // Sometimes you just have to log everything. 186 // Sometimes you just have to log everything.
@@ -189,17 +189,24 @@ public class BSScene : PhysicsScene, IPhysicsParameters
189 private string m_physicsLoggingDir; 189 private string m_physicsLoggingDir;
190 private string m_physicsLoggingPrefix; 190 private string m_physicsLoggingPrefix;
191 private int m_physicsLoggingFileMinutes; 191 private int m_physicsLoggingFileMinutes;
192 // 'true' of the vehicle code is to log lots of details
193 public bool VehicleLoggingEnabled { get; private set; }
192 194
193 private bool m_vehicleLoggingEnabled; 195 #region Construction and Initialization
194 public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } }
195
196 public BSScene(string identifier) 196 public BSScene(string identifier)
197 { 197 {
198 m_initialized = false; 198 m_initialized = false;
199 // we are passed the name of the region we're working for.
200 RegionName = identifier;
199 } 201 }
200 202
201 public override void Initialise(IMesher meshmerizer, IConfigSource config) 203 public override void Initialise(IMesher meshmerizer, IConfigSource config)
202 { 204 {
205 mesher = meshmerizer;
206 _taintedObjects = new List<TaintCallbackEntry>();
207 PhysObjects = new Dictionary<uint, BSPhysObject>();
208 Shapes = new BSShapeCollection(this);
209
203 // Allocate pinned memory to pass parameters. 210 // Allocate pinned memory to pass parameters.
204 m_params = new ConfigurationParameters[1]; 211 m_params = new ConfigurationParameters[1];
205 m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); 212 m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
@@ -215,7 +222,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
215 222
216 // Enable very detailed logging. 223 // Enable very detailed logging.
217 // By creating an empty logger when not logging, the log message invocation code 224 // 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. 225 // can be left in and every call doesn't have to check for null.
219 if (m_physicsLoggingEnabled) 226 if (m_physicsLoggingEnabled)
220 { 227 {
221 PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); 228 PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
@@ -225,38 +232,43 @@ public class BSScene : PhysicsScene, IPhysicsParameters
225 PhysicsLogging = new Logging.LogWriter(); 232 PhysicsLogging = new Logging.LogWriter();
226 } 233 }
227 234
228 // Get the version of the DLL 235 // If Debug logging level, enable logging from the unmanaged code
229 // TODO: this doesn't work yet. Something wrong with marshaling the returned string. 236 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) 237 if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
235 { 238 {
236 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); 239 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
237 if (PhysicsLogging.Enabled) 240 if (PhysicsLogging.Enabled)
241 // 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); 242 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
239 else 243 else
240 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); 244 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 } 245 }
244 246
245 _taintedObjects = new List<TaintCallbackEntry>(); 247 // Get the version of the DLL
248 // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
249 // BulletSimVersion = BulletSimAPI.GetVersion();
250 // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
246 251
247 mesher = meshmerizer; 252 // The bounding box for the simulated world. The origin is 0,0,0 unless we're
248 // The bounding box for the simulated world 253 // a child in a mega-region.
249 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f); 254 // Bullet actually doesn't care about the extents of the simulated
255 // area. It tracks active objects no matter where they are.
256 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
250 257
251 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); 258 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
252 m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), 259 WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
253 m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), 260 m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
254 m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); 261 m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
262 m_DebugLogCallbackHandle);
255 263
256 // Initialization to support the transition to a new API which puts most of the logic 264 // 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. 265 // 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)); 266 World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID));
259 m_constraintCollection = new BSConstraintCollection(World); 267
268 Constraints = new BSConstraintCollection(World);
269
270 TerrainManager = new BSTerrainManager(this);
271 TerrainManager.CreateInitialGroundPlaneAndTerrain();
260 272
261 m_initialized = true; 273 m_initialized = true;
262 } 274 }
@@ -281,10 +293,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
281 // Very detailed logging for physics debugging 293 // Very detailed logging for physics debugging
282 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); 294 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
283 m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); 295 m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
284 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-"); 296 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
285 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); 297 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
286 // Very detailed logging for vehicle debugging 298 // Very detailed logging for vehicle debugging
287 m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); 299 VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
300
301 // Do any replacements in the parameters
302 m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
288 } 303 }
289 } 304 }
290 } 305 }
@@ -309,12 +324,50 @@ public class BSScene : PhysicsScene, IPhysicsParameters
309 { 324 {
310 m_log.Debug("[BULLETS UNMANAGED]:" + msg); 325 m_log.Debug("[BULLETS UNMANAGED]:" + msg);
311 } 326 }
312 327
313 // Called directly from unmanaged code so don't do much 328 // Called directly from unmanaged code so don't do much
314 private void BulletLoggerPhysLog(string msg) 329 private void BulletLoggerPhysLog(string msg)
315 { 330 {
316 PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg); 331 DetailLog("[BULLETS UNMANAGED]:" + msg);
332 }
333
334 public override void Dispose()
335 {
336 // m_log.DebugFormat("{0}: Dispose()", LogHeader);
337
338 // make sure no stepping happens while we're deleting stuff
339 m_initialized = false;
340
341 TerrainManager.ReleaseGroundPlaneAndTerrain();
342
343 foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
344 {
345 kvp.Value.Destroy();
346 }
347 PhysObjects.Clear();
348
349 // Now that the prims are all cleaned up, there should be no constraints left
350 if (Constraints != null)
351 {
352 Constraints.Dispose();
353 Constraints = null;
354 }
355
356 if (Shapes != null)
357 {
358 Shapes.Dispose();
359 Shapes = null;
360 }
361
362 // Anything left in the unmanaged code should be cleaned out
363 BulletSimAPI.Shutdown(WorldID);
364
365 // Not logging any more
366 PhysicsLogging.Close();
317 } 367 }
368 #endregion // Construction and Initialization
369
370 #region Prim and Avatar addition and removal
318 371
319 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) 372 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
320 { 373 {
@@ -329,7 +382,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
329 if (!m_initialized) return null; 382 if (!m_initialized) return null;
330 383
331 BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); 384 BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
332 lock (m_avatars) m_avatars.Add(localID, actor); 385 lock (PhysObjects) PhysObjects.Add(localID, actor);
386
387 // TODO: Remove kludge someday.
388 // We must generate a collision for avatars whether they collide or not.
389 // This is required by OpenSim to update avatar animations, etc.
390 lock (m_avatars) m_avatars.Add(actor);
391
333 return actor; 392 return actor;
334 } 393 }
335 394
@@ -344,7 +403,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
344 { 403 {
345 try 404 try
346 { 405 {
347 lock (m_avatars) m_avatars.Remove(actor.LocalID); 406 lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
407 // Remove kludge someday
408 lock (m_avatars) m_avatars.Remove(bsactor);
348 } 409 }
349 catch (Exception e) 410 catch (Exception e)
350 { 411 {
@@ -362,11 +423,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
362 BSPrim bsprim = prim as BSPrim; 423 BSPrim bsprim = prim as BSPrim;
363 if (bsprim != null) 424 if (bsprim != null)
364 { 425 {
365 // DetailLog("{0},RemovePrim,call", bsprim.LocalID); 426 DetailLog("{0},RemovePrim,call", bsprim.LocalID);
366 // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); 427 // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
367 try 428 try
368 { 429 {
369 lock (m_prims) m_prims.Remove(bsprim.LocalID); 430 lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
370 } 431 }
371 catch (Exception e) 432 catch (Exception e)
372 { 433 {
@@ -388,18 +449,21 @@ public class BSScene : PhysicsScene, IPhysicsParameters
388 449
389 if (!m_initialized) return null; 450 if (!m_initialized) return null;
390 451
391 // DetailLog("{0},AddPrimShape,call", localID); 452 DetailLog("{0},AddPrimShape,call", localID);
392 453
393 BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); 454 BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
394 lock (m_prims) m_prims.Add(localID, prim); 455 lock (PhysObjects) PhysObjects.Add(localID, prim);
395 return prim; 456 return prim;
396 } 457 }
397 458
398 // This is a call from the simulator saying that some physical property has been updated. 459 // 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 460 // The BulletSim driver senses the changing of relevant properties so this taint
400 // information call is not needed. 461 // information call is not needed.
401 public override void AddPhysicsActorTaint(PhysicsActor prim) { } 462 public override void AddPhysicsActorTaint(PhysicsActor prim) { }
402 463
464 #endregion // Prim and Avatar addition and removal
465
466 #region Simulation
403 // Simulate one timestep 467 // Simulate one timestep
404 public override float Simulate(float timeStep) 468 public override float Simulate(float timeStep)
405 { 469 {
@@ -408,34 +472,46 @@ public class BSScene : PhysicsScene, IPhysicsParameters
408 int collidersCount = 0; 472 int collidersCount = 0;
409 IntPtr collidersPtr; 473 IntPtr collidersPtr;
410 474
411 LastSimulatedTimestep = timeStep; 475 int beforeTime = 0;
476 int simTime = 0;
412 477
413 // prevent simulation until we've been initialized 478 // prevent simulation until we've been initialized
414 if (!m_initialized) return 10.0f; 479 if (!m_initialized) return 5.0f;
415
416 int simulateStartTime = Util.EnvironmentTickCount();
417 480
418 // update the prim states while we know the physics engine is not busy 481 // update the prim states while we know the physics engine is not busy
482 int numTaints = _taintedObjects.Count;
419 ProcessTaints(); 483 ProcessTaints();
420 484
421 // Some of the prims operate with special vehicle properties 485 // Some of the prims operate with special vehicle properties
422 ProcessVehicles(timeStep); 486 ProcessVehicles(timeStep);
487 numTaints += _taintedObjects.Count;
423 ProcessTaints(); // the vehicles might have added taints 488 ProcessTaints(); // the vehicles might have added taints
424 489
425 // step the physical world one interval 490 // step the physical world one interval
426 m_simulationStep++; 491 m_simulationStep++;
427 int numSubSteps = 0; 492 int numSubSteps = 0;
493
494 // DEBUG
495 // DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
496
428 try 497 try
429 { 498 {
430 numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, 499 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
500
501 numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
431 out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); 502 out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
432 // DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); 503
504 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
505 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
506 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
433 } 507 }
434 catch (Exception e) 508 catch (Exception e)
435 { 509 {
436 m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e); 510 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); 511 LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
438 // updatedEntityCount = 0; 512 DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
513 DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
514 updatedEntityCount = 0;
439 collidersCount = 0; 515 collidersCount = 0;
440 } 516 }
441 517
@@ -443,7 +519,7 @@ 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 519 // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
444 520
445 // Get a value for 'now' so all the collision and update routines don't have to get their own 521 // Get a value for 'now' so all the collision and update routines don't have to get their own
446 m_simulationNowTime = Util.EnvironmentTickCount(); 522 SimulationNowTime = Util.EnvironmentTickCount();
447 523
448 // If there were collisions, process them by sending the event to the prim. 524 // If there were collisions, process them by sending the event to the prim.
449 // Collisions must be processed before updates. 525 // Collisions must be processed before updates.
@@ -460,21 +536,34 @@ public class BSScene : PhysicsScene, IPhysicsParameters
460 } 536 }
461 } 537 }
462 538
539 // This is a kludge to get avatar movement updates.
540 // the simulator expects collisions for avatars even if there are have been no collisions. This updates
541 // avatar animations and stuff.
542 // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
543 foreach (BSPhysObject bsp in m_avatars)
544 bsp.SendCollisions();
545
463 // The above SendCollision's batch up the collisions on the objects. 546 // The above SendCollision's batch up the collisions on the objects.
464 // Now push the collisions into the simulator. 547 // Now push the collisions into the simulator.
465 foreach (BSPrim bsp in m_primsWithCollisions) 548 if (ObjectsWithCollisions.Count > 0)
466 bsp.SendCollisions(); 549 {
467 m_primsWithCollisions.Clear(); 550 foreach (BSPhysObject bsp in ObjectsWithCollisions)
551 if (!m_avatars.Contains(bsp)) // don't call avatars twice
552 if (!bsp.SendCollisions())
553 {
554 // If the object is done colliding, see that it's removed from the colliding list
555 ObjectsWithNoMoreCollisions.Add(bsp);
556 }
557 }
468 558
469 // This is a kludge to get avatar movement updated. 559 // Objects that are done colliding are removed from the ObjectsWithCollisions list.
470 // Don't send collisions only if there were collisions -- send everytime. 560 // Not done above because it is inside an iteration of ObjectWithCollisions.
471 // ODE sends collisions even if there are none and this is used to update 561 if (ObjectsWithNoMoreCollisions.Count > 0)
472 // avatar animations and stuff. 562 {
473 // foreach (BSCharacter bsc in m_avatarsWithCollisions) 563 foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
474 // bsc.SendCollisions(); 564 ObjectsWithCollisions.Remove(po);
475 foreach (KeyValuePair<uint, BSCharacter> kvp in m_avatars) 565 ObjectsWithNoMoreCollisions.Clear();
476 kvp.Value.SendCollisions(); 566 }
477 m_avatarsWithCollisions.Clear();
478 567
479 // If any of the objects had updated properties, tell the object it has been changed by the physics engine 568 // If any of the objects had updated properties, tell the object it has been changed by the physics engine
480 if (updatedEntityCount > 0) 569 if (updatedEntityCount > 0)
@@ -482,145 +571,98 @@ public class BSScene : PhysicsScene, IPhysicsParameters
482 for (int ii = 0; ii < updatedEntityCount; ii++) 571 for (int ii = 0; ii < updatedEntityCount; ii++)
483 { 572 {
484 EntityProperties entprop = m_updateArray[ii]; 573 EntityProperties entprop = m_updateArray[ii];
485 BSPrim prim; 574 BSPhysObject pobj;
486 if (m_prims.TryGetValue(entprop.ID, out prim)) 575 if (PhysObjects.TryGetValue(entprop.ID, out pobj))
487 {
488 prim.UpdateProperties(entprop);
489 continue;
490 }
491 BSCharacter actor;
492 if (m_avatars.TryGetValue(entprop.ID, out actor))
493 { 576 {
494 actor.UpdateProperties(entprop); 577 pobj.UpdateProperties(entprop);
495 continue;
496 } 578 }
497 } 579 }
498 } 580 }
499 581
500 // If enabled, call into the physics engine to dump statistics 582 // The physics engine returns the number of milliseconds it simulated this call.
501 if (m_detailedStatsStep > 0) 583 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
502 { 584 // We multiply by 45 to give a recognizable running rate (45 or less).
503 if ((m_simulationStep % m_detailedStatsStep) == 0) 585 return numSubSteps * m_fixedTimeStep * 1000 * 45;
504 { 586 // return timeStep * 1000 * 45;
505 BulletSimAPI.DumpBulletStatistics();
506 }
507 }
508
509 // this is a waste since the outside routine also calcuates the physics simulation
510 // period. TODO: There should be a way of computing physics frames from simulator computation.
511 // long simulateTotalTime = Util.EnvironmentTickCountSubtract(simulateStartTime);
512 // return (timeStep * (float)simulateTotalTime);
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 } 587 }
522 588
523 // Something has collided 589 // Something has collided
524 private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penitration) 590 private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
525 { 591 {
526 if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID) 592 if (localID <= TerrainManager.HighestTerrainID)
527 { 593 {
528 return; // don't send collisions to the terrain 594 return; // don't send collisions to the terrain
529 } 595 }
530 596
531 ActorTypes type = ActorTypes.Prim; 597 BSPhysObject collider;
532 if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID) 598 if (!PhysObjects.TryGetValue(localID, out collider))
533 type = ActorTypes.Ground; 599 {
534 else if (m_avatars.ContainsKey(collidingWith)) 600 // If the object that is colliding cannot be found, just ignore the collision.
535 type = ActorTypes.Agent; 601 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; 602 return;
542 } 603 }
543 BSCharacter actor; 604
544 if (m_avatars.TryGetValue(localID, out actor)) { 605 // 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); 606 BSPhysObject collidee = null;
546 m_avatarsWithCollisions.Add(actor); 607 PhysObjects.TryGetValue(collidingWith, out collidee);
547 return; 608
609 // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
610
611 if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
612 {
613 // If a collision was posted, remember to send it to the simulator
614 ObjectsWithCollisions.Add(collider);
548 } 615 }
616
549 return; 617 return;
550 } 618 }
551 619
552 public override void GetResults() { } 620 #endregion // Simulation
553 621
554 public override void SetTerrain(float[] heightMap) { 622 public override void GetResults() { }
555 m_heightMap = heightMap;
556 this.TaintedObject("BSScene.SetTerrain", delegate()
557 {
558 BulletSimAPI.SetHeightmap(m_worldID, m_heightMap);
559 });
560 }
561 623
562 // Someday we will have complex terrain with caves and tunnels 624 #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 }
568 625
569 public float GetTerrainHeightAtXY(float tX, float tY) 626 public override void SetTerrain(float[] heightMap) {
570 { 627 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 } 628 }
575 629
576 public override void SetWaterLevel(float baseheight) 630 public override void SetWaterLevel(float baseheight)
577 { 631 {
578 m_waterLevel = baseheight; 632 m_waterLevel = baseheight;
579 // TODO: pass to physics engine so things will float?
580 } 633 }
581 public float GetWaterLevel() 634 // Someday....
635 public float GetWaterLevelAtXYZ(Vector3 loc)
582 { 636 {
583 return m_waterLevel; 637 return m_waterLevel;
584 } 638 }
585 639
586 public override void DeleteTerrain() 640 public override void DeleteTerrain()
587 { 641 {
588 // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); 642 // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
589 } 643 }
590 644
591 public override void Dispose() 645 // Although no one seems to check this, I do support combining.
646 public override bool SupportsCombining()
592 { 647 {
593 // m_log.DebugFormat("{0}: Dispose()", LogHeader); 648 return TerrainManager.SupportsCombining();
594 649 }
595 // make sure no stepping happens while we're deleting stuff 650 // This call says I am a child to region zero in a mega-region. 'pScene' is that
596 m_initialized = false; 651 // of region zero, 'offset' is my offset from regions zero's origin, and
597 652 // 'extents' is the largest XY that is handled in my region.
598 foreach (KeyValuePair<uint, BSCharacter> kvp in m_avatars) 653 public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
599 { 654 {
600 kvp.Value.Destroy(); 655 TerrainManager.Combine(pScene, offset, extents);
601 } 656 }
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);
619 657
620 // Not logging any more 658 // Unhook all the combining that I know about.
621 PhysicsLogging.Close(); 659 public override void UnCombine(PhysicsScene pScene)
660 {
661 TerrainManager.UnCombine(pScene);
622 } 662 }
623 663
664 #endregion // Terrain
665
624 public override Dictionary<uint, float> GetTopColliders() 666 public override Dictionary<uint, float> GetTopColliders()
625 { 667 {
626 return new Dictionary<uint, float>(); 668 return new Dictionary<uint, float>();
@@ -628,121 +670,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
628 670
629 public override bool IsThreaded { get { return false; } } 671 public override bool IsThreaded { get { return false; } }
630 672
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 673 // 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. 674 // 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. 675 // We rely on C#'s closure to save and restore the context for the delegate.
@@ -751,7 +678,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
751 if (!m_initialized) return; 678 if (!m_initialized) return;
752 679
753 lock (_taintLock) 680 lock (_taintLock)
681 {
754 _taintedObjects.Add(new TaintCallbackEntry(ident, callback)); 682 _taintedObjects.Add(new TaintCallbackEntry(ident, callback));
683 }
684
755 return; 685 return;
756 } 686 }
757 687
@@ -763,6 +693,35 @@ public class BSScene : PhysicsScene, IPhysicsParameters
763 if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process 693 if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process
764 { 694 {
765 // swizzle a new list into the list location so we can process what's there 695 // swizzle a new list into the list location so we can process what's there
696 int taintCount = m_taintsToProcessPerStep;
697 TaintCallbackEntry oneCallback = new TaintCallbackEntry();
698 while (_taintedObjects.Count > 0 && taintCount-- > 0)
699 {
700 bool gotOne = false;
701 lock (_taintLock)
702 {
703 if (_taintedObjects.Count > 0)
704 {
705 oneCallback = _taintedObjects[0];
706 _taintedObjects.RemoveAt(0);
707 gotOne = true;
708 }
709 }
710 if (gotOne)
711 {
712 try
713 {
714 DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
715 oneCallback.callback();
716 }
717 catch (Exception e)
718 {
719 m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e);
720 }
721 }
722 }
723 /*
724 // swizzle a new list into the list location so we can process what's there
766 List<TaintCallbackEntry> oldList; 725 List<TaintCallbackEntry> oldList;
767 lock (_taintLock) 726 lock (_taintLock)
768 { 727 {
@@ -774,6 +733,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
774 { 733 {
775 try 734 try
776 { 735 {
736 DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
777 tcbe.callback(); 737 tcbe.callback();
778 } 738 }
779 catch (Exception e) 739 catch (Exception e)
@@ -782,6 +742,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
782 } 742 }
783 } 743 }
784 oldList.Clear(); 744 oldList.Clear();
745 */
785 } 746 }
786 } 747 }
787 748
@@ -789,13 +750,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
789 750
790 public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType) 751 public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType)
791 { 752 {
792 if (newType == Vehicle.TYPE_NONE) 753 RemoveVehiclePrim(vehic);
793 { 754 if (newType != Vehicle.TYPE_NONE)
794 RemoveVehiclePrim(vehic);
795 }
796 else
797 { 755 {
798 // make it so the scene will call us each tick to do vehicle things 756 // make it so the scene will call us each tick to do vehicle things
799 AddVehiclePrim(vehic); 757 AddVehiclePrim(vehic);
800 } 758 }
801 } 759 }
@@ -827,17 +785,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
827 } 785 }
828 786
829 // Some prims have extra vehicle actions 787 // Some prims have extra vehicle actions
830 // no locking because only called when physics engine is not busy 788 // Called at taint time!
831 private void ProcessVehicles(float timeStep) 789 private void ProcessVehicles(float timeStep)
832 { 790 {
833 foreach (BSPrim prim in m_vehicles) 791 foreach (BSPhysObject pobj in m_vehicles)
834 { 792 {
835 prim.StepVehicle(timeStep); 793 pobj.StepVehicle(timeStep);
836 } 794 }
837 } 795 }
838 #endregion Vehicles 796 #endregion Vehicles
839 797
840 #region Parameters 798 #region INI and command line parameter processing
841 799
842 delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); 800 delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
843 delegate float ParamGet(BSScene scene); 801 delegate float ParamGet(BSScene scene);
@@ -869,7 +827,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
869 // getters and setters. 827 // getters and setters.
870 // It is easiest to find an existing definition and copy it. 828 // It is easiest to find an existing definition and copy it.
871 // Parameter values are floats. Booleans are converted to a floating value. 829 // Parameter values are floats. Booleans are converted to a floating value.
872 // 830 //
873 // A ParameterDefn() takes the following parameters: 831 // A ParameterDefn() takes the following parameters:
874 // -- the text name of the parameter. This is used for console input and ini file. 832 // -- 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. 833 // -- a short text description of the parameter. This shows up in the console listing.
@@ -888,25 +846,40 @@ public class BSScene : PhysicsScene, IPhysicsParameters
888 { 846 {
889 new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", 847 new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
890 ConfigurationParameters.numericTrue, 848 ConfigurationParameters.numericTrue,
891 (s,cf,p,v) => { s._meshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); }, 849 (s,cf,p,v) => { s.ShouldMeshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); },
892 (s) => { return s.NumericBool(s._meshSculptedPrim); }, 850 (s) => { return s.NumericBool(s.ShouldMeshSculptedPrim); },
893 (s,p,l,v) => { s._meshSculptedPrim = s.BoolNumeric(v); } ), 851 (s,p,l,v) => { s.ShouldMeshSculptedPrim = s.BoolNumeric(v); } ),
894 new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", 852 new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
895 ConfigurationParameters.numericFalse, 853 ConfigurationParameters.numericFalse,
896 (s,cf,p,v) => { s._forceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, 854 (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
897 (s) => { return s.NumericBool(s._forceSimplePrimMeshing); }, 855 (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
898 (s,p,l,v) => { s._forceSimplePrimMeshing = s.BoolNumeric(v); } ), 856 (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
857 new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
858 ConfigurationParameters.numericTrue,
859 (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
860 (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
861 (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),
899 862
900 new ParameterDefn("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 863 new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
901 8f, 864 8f,
902 (s,cf,p,v) => { s.m_meshLOD = cf.GetInt(p, (int)v); }, 865 (s,cf,p,v) => { s.MeshLOD = (float)cf.GetInt(p, (int)v); },
903 (s) => { return (float)s.m_meshLOD; }, 866 (s) => { return s.MeshLOD; },
904 (s,p,l,v) => { s.m_meshLOD = (int)v; } ), 867 (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)", 868 new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
869 16f,
870 (s,cf,p,v) => { s.MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
871 (s) => { return s.MeshMegaPrimLOD; },
872 (s,p,l,v) => { s.MeshMegaPrimLOD = v; } ),
873 new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
874 10f,
875 (s,cf,p,v) => { s.MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
876 (s) => { return s.MeshMegaPrimThreshold; },
877 (s,p,l,v) => { s.MeshMegaPrimThreshold = v; } ),
878 new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
906 32f, 879 32f,
907 (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); }, 880 (s,cf,p,v) => { s.SculptLOD = (float)cf.GetInt(p, (int)v); },
908 (s) => { return (float)s.m_sculptLOD; }, 881 (s) => { return s.SculptLOD; },
909 (s,p,l,v) => { s.m_sculptLOD = (int)v; } ), 882 (s,p,l,v) => { s.SculptLOD = v; } ),
910 883
911 new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", 884 new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
912 10f, 885 10f,
@@ -928,11 +901,16 @@ public class BSScene : PhysicsScene, IPhysicsParameters
928 (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, 901 (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
929 (s) => { return (float)s.m_maxUpdatesPerFrame; }, 902 (s) => { return (float)s.m_maxUpdatesPerFrame; },
930 (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), 903 (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
904 new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
905 100f,
906 (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
907 (s) => { return (float)s.m_taintsToProcessPerStep; },
908 (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
931 new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", 909 new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
932 10000.01f, 910 10000.01f,
933 (s,cf,p,v) => { s.m_maximumObjectMass = cf.GetFloat(p, v); }, 911 (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); },
934 (s) => { return (float)s.m_maximumObjectMass; }, 912 (s) => { return (float)s.MaximumObjectMass; },
935 (s,p,l,v) => { s.m_maximumObjectMass = v; } ), 913 (s,p,l,v) => { s.MaximumObjectMass = v; } ),
936 914
937 new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", 915 new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
938 2200f, 916 2200f,
@@ -976,42 +954,42 @@ public class BSScene : PhysicsScene, IPhysicsParameters
976 0f, 954 0f,
977 (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, 955 (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
978 (s) => { return s.m_params[0].linearDamping; }, 956 (s) => { return s.m_params[0].linearDamping; },
979 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearDamping, p, l, v); } ), 957 (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)", 958 new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
981 0f, 959 0f,
982 (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, 960 (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
983 (s) => { return s.m_params[0].angularDamping; }, 961 (s) => { return s.m_params[0].angularDamping; },
984 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularDamping, p, l, v); } ), 962 (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", 963 new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
986 0.2f, 964 0.2f,
987 (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, 965 (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
988 (s) => { return s.m_params[0].deactivationTime; }, 966 (s) => { return s.m_params[0].deactivationTime; },
989 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].deactivationTime, p, l, v); } ), 967 (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", 968 new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
991 0.8f, 969 0.8f,
992 (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); }, 970 (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
993 (s) => { return s.m_params[0].linearSleepingThreshold; }, 971 (s) => { return s.m_params[0].linearSleepingThreshold; },
994 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ), 972 (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", 973 new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
996 1.0f, 974 1.0f,
997 (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); }, 975 (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
998 (s) => { return s.m_params[0].angularSleepingThreshold; }, 976 (s) => { return s.m_params[0].angularSleepingThreshold; },
999 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ), 977 (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)" , 978 new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
1001 0f, // set to zero to disable 979 0f, // set to zero to disable
1002 (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); }, 980 (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
1003 (s) => { return s.m_params[0].ccdMotionThreshold; }, 981 (s) => { return s.m_params[0].ccdMotionThreshold; },
1004 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ), 982 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ),
1005 new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 983 new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
1006 0f, 984 0f,
1007 (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, 985 (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
1008 (s) => { return s.m_params[0].ccdSweptSphereRadius; }, 986 (s) => { return s.m_params[0].ccdSweptSphereRadius; },
1009 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ), 987 (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" , 988 new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
1011 0.1f, 989 0.1f,
1012 (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, 990 (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
1013 (s) => { return s.m_params[0].contactProcessingThreshold; }, 991 (s) => { return s.m_params[0].contactProcessingThreshold; },
1014 (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ), 992 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ),
1015 993
1016 new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 994 new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
1017 0.5f, 995 0.5f,
@@ -1029,44 +1007,44 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1029 (s) => { return s.m_params[0].terrainRestitution; }, 1007 (s) => { return s.m_params[0].terrainRestitution; },
1030 (s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ), 1008 (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.", 1009 new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
1032 0.5f, 1010 0.2f,
1033 (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, 1011 (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
1034 (s) => { return s.m_params[0].avatarFriction; }, 1012 (s) => { return s.m_params[0].avatarFriction; },
1035 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarFriction, p, l, v); } ), 1013 (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.", 1014 new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
1037 60f, 1015 60f,
1038 (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); }, 1016 (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
1039 (s) => { return s.m_params[0].avatarDensity; }, 1017 (s) => { return s.m_params[0].avatarDensity; },
1040 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarDensity, p, l, v); } ), 1018 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarDensity, p, l, v); } ),
1041 new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", 1019 new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
1042 0f, 1020 0f,
1043 (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); }, 1021 (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); },
1044 (s) => { return s.m_params[0].avatarRestitution; }, 1022 (s) => { return s.m_params[0].avatarRestitution; },
1045 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarRestitution, p, l, v); } ), 1023 (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", 1024 new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar",
1047 0.37f, 1025 0.37f,
1048 (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); }, 1026 (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); },
1049 (s) => { return s.m_params[0].avatarCapsuleRadius; }, 1027 (s) => { return s.m_params[0].avatarCapsuleRadius; },
1050 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ), 1028 (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", 1029 new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
1052 1.5f, 1030 1.5f,
1053 (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); }, 1031 (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },
1054 (s) => { return s.m_params[0].avatarCapsuleHeight; }, 1032 (s) => { return s.m_params[0].avatarCapsuleHeight; },
1055 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ), 1033 (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", 1034 new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
1057 0.1f, 1035 0.1f,
1058 (s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); }, 1036 (s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); },
1059 (s) => { return s.m_params[0].avatarContactProcessingThreshold; }, 1037 (s) => { return s.m_params[0].avatarContactProcessingThreshold; },
1060 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), 1038 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
1061 1039
1062 1040
1063 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 1041 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
1064 0f, // zero to disable 1042 0f,
1065 (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, 1043 (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
1066 (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; }, 1044 (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; },
1067 (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ), 1045 (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ),
1068 new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", 1046 new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
1069 0f, // zero to disable 1047 0f,
1070 (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, 1048 (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
1071 (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; }, 1049 (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; },
1072 (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ), 1050 (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ),
@@ -1081,12 +1059,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1081 (s) => { return s.m_params[0].shouldForceUpdateAllAabbs; }, 1059 (s) => { return s.m_params[0].shouldForceUpdateAllAabbs; },
1082 (s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ), 1060 (s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ),
1083 new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", 1061 new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
1084 ConfigurationParameters.numericFalse, 1062 ConfigurationParameters.numericTrue,
1085 (s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, 1063 (s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
1086 (s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, 1064 (s) => { return s.m_params[0].shouldRandomizeSolverOrder; },
1087 (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), 1065 (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ),
1088 new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", 1066 new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
1089 ConfigurationParameters.numericFalse, 1067 ConfigurationParameters.numericTrue,
1090 (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, 1068 (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; }, 1069 (s) => { return s.m_params[0].shouldSplitSimulationIslands; },
1092 (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ), 1070 (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ),
@@ -1121,28 +1099,27 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1121 (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, 1099 (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
1122 (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, 1100 (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
1123 (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), 1101 (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", 1102 new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
1125 0.0f, 1103 0.001f,
1126 (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, 1104 (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
1127 (s) => { return s.m_params[0].linkConstraintCFM; }, 1105 (s) => { return s.m_params[0].linkConstraintCFM; },
1128 (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), 1106 (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
1129 new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", 1107 new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
1130 0.2f, 1108 0.8f,
1131 (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, 1109 (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
1132 (s) => { return s.m_params[0].linkConstraintERP; }, 1110 (s) => { return s.m_params[0].linkConstraintERP; },
1133 (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), 1111 (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
1112 new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
1113 40,
1114 (s,cf,p,v) => { s.m_params[0].linkConstraintSolverIterations = cf.GetFloat(p, v); },
1115 (s) => { return s.m_params[0].linkConstraintSolverIterations; },
1116 (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
1134 1117
1135 new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", 1118 new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
1136 0f, 1119 0f,
1137 (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); }, 1120 (s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
1138 (s) => { return (float)s.m_detailedStatsStep; }, 1121 (s) => { return (float)s.m_params[0].physicsLoggingFrames; },
1139 (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), 1122 (s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (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 }; 1123 };
1147 1124
1148 // Convert a boolean to our numeric true and false values 1125 // Convert a boolean to our numeric true and false values
@@ -1200,11 +1177,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1200 1177
1201 private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; 1178 private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
1202 1179
1180 // This creates an array in the correct format for returning the list of
1181 // parameters. This is used by the 'list' option of the 'physics' command.
1203 private void BuildParameterTable() 1182 private void BuildParameterTable()
1204 { 1183 {
1205 if (SettableParameters.Length < ParameterDefinitions.Length) 1184 if (SettableParameters.Length < ParameterDefinitions.Length)
1206 { 1185 {
1207
1208 List<PhysParameterEntry> entries = new List<PhysParameterEntry>(); 1186 List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
1209 for (int ii = 0; ii < ParameterDefinitions.Length; ii++) 1187 for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
1210 { 1188 {
@@ -1250,18 +1228,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1250 } 1228 }
1251 1229
1252 // check to see if we are updating a parameter for a particular or all of the prims 1230 // 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) 1231 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 { 1232 {
1263 List<uint> operateOn; 1233 List<uint> operateOn;
1264 lock (m_avatars) operateOn = new List<uint>(m_avatars.Keys); 1234 lock (PhysObjects) operateOn = new List<uint>(PhysObjects.Keys);
1265 UpdateParameterSet(operateOn, ref loc, parm, localID, val); 1235 UpdateParameterSet(operateOn, ref loc, parm, localID, val);
1266 } 1236 }
1267 1237
@@ -1284,11 +1254,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1284 TaintedObject("BSScene.UpdateParameterSet", delegate() { 1254 TaintedObject("BSScene.UpdateParameterSet", delegate() {
1285 foreach (uint lID in objectIDs) 1255 foreach (uint lID in objectIDs)
1286 { 1256 {
1287 BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval); 1257 BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
1288 } 1258 }
1289 }); 1259 });
1290 break; 1260 break;
1291 default: 1261 default:
1292 // setting only one localID 1262 // setting only one localID
1293 TaintedUpdateParameter(parm, localID, val); 1263 TaintedUpdateParameter(parm, localID, val);
1294 break; 1264 break;
@@ -1302,7 +1272,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1302 string xparm = parm.ToLower(); 1272 string xparm = parm.ToLower();
1303 float xval = val; 1273 float xval = val;
1304 TaintedObject("BSScene.TaintedUpdateParameter", delegate() { 1274 TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
1305 BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval); 1275 BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
1306 }); 1276 });
1307 } 1277 }
1308 1278
@@ -1330,6 +1300,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1330 public void DetailLog(string msg, params Object[] args) 1300 public void DetailLog(string msg, params Object[] args)
1331 { 1301 {
1332 PhysicsLogging.Write(msg, args); 1302 PhysicsLogging.Write(msg, args);
1303 // Add the Flush() if debugging crashes to get all the messages written out.
1304 // PhysicsLogging.Flush();
1333 } 1305 }
1334 // used to fill in the LocalID when there isn't one 1306 // used to fill in the LocalID when there isn't one
1335 public const string DetailLogZero = "0000000000"; 1307 public const string DetailLogZero = "0000000000";
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
new file mode 100755
index 0000000..d189f1d
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -0,0 +1,756 @@
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<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
71 private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, 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,
112 prim.BSShape, shapeData, bodyCallback);
113 ret = newGeom || newBody;
114 }
115 DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}",
116 prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape);
117
118 return ret;
119 }
120
121 // Track another user of a body
122 // We presume the caller has allocated the body.
123 // Bodies only have one user so the reference count is either 1 or 0.
124 public void ReferenceBody(BulletBody body, bool inTaintTime)
125 {
126 lock (m_collectionActivityLock)
127 {
128 BodyDesc bodyDesc;
129 if (Bodies.TryGetValue(body.ID, out bodyDesc))
130 {
131 bodyDesc.referenceCount++;
132 DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,body={1},ref={2}", body.ID, body, bodyDesc.referenceCount);
133 }
134 else
135 {
136 // New entry
137 bodyDesc.ptr = body.ptr;
138 bodyDesc.referenceCount = 1;
139 DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={2}",
140 body.ID, body, bodyDesc.referenceCount);
141 BSScene.TaintCallback createOperation = delegate()
142 {
143 if (!BulletSimAPI.IsInWorld2(body.ptr))
144 {
145 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
146 DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}",
147 body.ID, body);
148 }
149 };
150 if (inTaintTime)
151 createOperation();
152 else
153 PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
154 }
155 bodyDesc.lastReferenced = System.DateTime.Now;
156 Bodies[body.ID] = bodyDesc;
157 }
158 }
159
160 // Release the usage of a body.
161 // Called when releasing use of a BSBody. BSShape is handled separately.
162 public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
163 {
164 if (body.ptr == IntPtr.Zero)
165 return;
166
167 lock (m_collectionActivityLock)
168 {
169 BodyDesc bodyDesc;
170 if (Bodies.TryGetValue(body.ID, out bodyDesc))
171 {
172 bodyDesc.referenceCount--;
173 bodyDesc.lastReferenced = System.DateTime.Now;
174 Bodies[body.ID] = bodyDesc;
175 DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount);
176
177 // If body is no longer being used, free it -- bodies can never be shared.
178 if (bodyDesc.referenceCount == 0)
179 {
180 Bodies.Remove(body.ID);
181 BSScene.TaintCallback removeOperation = delegate()
182 {
183 DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
184 body.ID, body.ptr.ToString("X"), inTaintTime);
185 // If the caller needs to know the old body is going away, pass the event up.
186 if (bodyCallback != null) bodyCallback(body);
187
188 // It may have already been removed from the world in which case the next is a NOOP.
189 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
190
191 // Zero any reference to the shape so it is not freed when the body is deleted.
192 BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
193 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
194 };
195 // If already in taint-time, do the operations now. Otherwise queue for later.
196 if (inTaintTime)
197 removeOperation();
198 else
199 PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
200 }
201 }
202 else
203 {
204 DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount);
205 }
206 }
207 }
208
209 // Track the datastructures and use count for a shape.
210 // When creating a hull, this is called first to reference the mesh
211 // and then again to reference the hull.
212 // Meshes and hulls for the same shape have the same hash key.
213 // NOTE that native shapes are not added to the mesh list or removed.
214 // Returns 'true' if this is the initial reference to the shape. Otherwise reused.
215 private bool ReferenceShape(BulletShape shape)
216 {
217 bool ret = false;
218 switch (shape.type)
219 {
220 case ShapeData.PhysicsShapeType.SHAPE_MESH:
221 MeshDesc meshDesc;
222 if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
223 {
224 // There is an existing instance of this mesh.
225 meshDesc.referenceCount++;
226 DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
227 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
228 }
229 else
230 {
231 // This is a new reference to a mesh
232 meshDesc.ptr = shape.ptr;
233 // We keep a reference to the underlying IMesh data so a hull can be built
234 meshDesc.referenceCount = 1;
235 DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
236 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
237 ret = true;
238 }
239 meshDesc.lastReferenced = System.DateTime.Now;
240 Meshes[shape.shapeKey] = meshDesc;
241 break;
242 case ShapeData.PhysicsShapeType.SHAPE_HULL:
243 HullDesc hullDesc;
244 if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
245 {
246 // There is an existing instance of this hull.
247 hullDesc.referenceCount++;
248 DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
249 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
250 }
251 else
252 {
253 // This is a new reference to a hull
254 hullDesc.ptr = shape.ptr;
255 hullDesc.referenceCount = 1;
256 DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
257 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
258 ret = true;
259
260 }
261 hullDesc.lastReferenced = System.DateTime.Now;
262 Hulls[shape.shapeKey] = hullDesc;
263 break;
264 case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
265 break;
266 default:
267 // Native shapes are not tracked and they don't go into any list
268 break;
269 }
270 return ret;
271 }
272
273 // Release the usage of a shape.
274 // The collisionObject is released since it is a copy of the real collision shape.
275 public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
276 {
277 if (shape.ptr == IntPtr.Zero)
278 return;
279
280 BSScene.TaintCallback dereferenceOperation = delegate()
281 {
282 switch (shape.type)
283 {
284 case ShapeData.PhysicsShapeType.SHAPE_HULL:
285 DereferenceHull(shape, shapeCallback);
286 break;
287 case ShapeData.PhysicsShapeType.SHAPE_MESH:
288 DereferenceMesh(shape, shapeCallback);
289 break;
290 case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
291 break;
292 default:
293 // Native shapes are not tracked and are released immediately
294 if (shape.ptr != IntPtr.Zero & shape.isNativeShape)
295 {
296 DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
297 BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
298 if (shapeCallback != null) shapeCallback(shape);
299 BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
300 }
301 break;
302 }
303 };
304 if (inTaintTime)
305 {
306 lock (m_collectionActivityLock)
307 {
308 dereferenceOperation();
309 }
310 }
311 else
312 {
313 PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation);
314 }
315 }
316
317 // Count down the reference count for a mesh shape
318 // Called at taint-time.
319 private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
320 {
321 MeshDesc meshDesc;
322 if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
323 {
324 meshDesc.referenceCount--;
325 // TODO: release the Bullet storage
326 if (shapeCallback != null) shapeCallback(shape);
327 meshDesc.lastReferenced = System.DateTime.Now;
328 Meshes[shape.shapeKey] = meshDesc;
329 DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}",
330 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
331
332 }
333 }
334
335 // Count down the reference count for a hull shape
336 // Called at taint-time.
337 private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
338 {
339 HullDesc hullDesc;
340 if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
341 {
342 hullDesc.referenceCount--;
343 // TODO: release the Bullet storage (aging old entries?)
344 if (shapeCallback != null) shapeCallback(shape);
345 hullDesc.lastReferenced = System.DateTime.Now;
346 Hulls[shape.shapeKey] = hullDesc;
347 DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}",
348 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
349 }
350 }
351
352 // Create the geometry information in Bullet for later use.
353 // The objects needs a hull if it's physical otherwise a mesh is enough.
354 // No locking here because this is done when we know physics is not simulating.
355 // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
356 // Returns 'true' if the geometry was rebuilt.
357 // Called at taint-time!
358 private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData,
359 PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
360 {
361 bool ret = false;
362 bool haveShape = false;
363 bool nativeShapePossible = true;
364
365 // If the prim attributes are simple, this could be a simple Bullet native shape
366 if (nativeShapePossible
367 && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
368 || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
369 && pbs.ProfileHollow == 0
370 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
371 && pbs.PathBegin == 0 && pbs.PathEnd == 0
372 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
373 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
374 && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
375 {
376 if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
377 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
378 {
379 haveShape = true;
380 if (forceRebuild
381 || prim.Scale != shapeData.Size
382 || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
383 )
384 {
385 ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
386 ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
387 DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
388 prim.LocalID, forceRebuild, prim.BSShape);
389 }
390 }
391 if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
392 {
393 haveShape = true;
394 if (forceRebuild
395 || prim.Scale != shapeData.Size
396 || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
397 )
398 {
399 ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
400 ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
401 DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
402 prim.LocalID, forceRebuild, prim.BSShape);
403 }
404 }
405 }
406 // If a simple shape is not happening, create a mesh and possibly a hull.
407 // Note that if it's a native shape, the check for physical/non-physical is not
408 // made. Native shapes are best used in either case.
409 if (!haveShape)
410 {
411 if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
412 {
413 // Update prim.BSShape to reference a hull of this shape.
414 ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
415 DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
416 shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
417 }
418 else
419 {
420 ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
421 DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
422 shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
423 }
424 }
425 return ret;
426 }
427
428 // Creates a native shape and assignes it to prim.BSShape
429 private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData,
430 ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
431 ShapeDestructionCallback shapeCallback)
432 {
433 BulletShape newShape;
434
435 shapeData.Type = shapeType;
436 // Bullet native objects are scaled by the Bullet engine so pass the size in
437 prim.Scale = shapeData.Size;
438 shapeData.Scale = shapeData.Size;
439
440 // release any previous shape
441 DereferenceShape(prim.BSShape, true, shapeCallback);
442
443 // Native shapes are always built independently.
444 newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
445 newShape.shapeKey = (System.UInt64)shapeKey;
446 newShape.isNativeShape = true;
447
448 // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
449 // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
450
451 prim.BSShape = newShape;
452 return true;
453 }
454
455 // Builds a mesh shape in the physical world and updates prim.BSShape.
456 // Dereferences previous shape in BSShape and adds a reference for this new shape.
457 // Returns 'true' of a mesh was actually built. Otherwise .
458 // Called at taint-time!
459 private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
460 ShapeDestructionCallback shapeCallback)
461 {
462 BulletShape newShape = new BulletShape(IntPtr.Zero);
463
464 float lod;
465 System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
466
467 // if this new shape is the same as last time, don't recreate the mesh
468 if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
469 return false;
470
471 DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}",
472 prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
473
474 // Since we're recreating new, get rid of the reference to the previous shape
475 DereferenceShape(prim.BSShape, true, shapeCallback);
476
477 newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
478
479 ReferenceShape(newShape);
480
481 // meshes are already scaled by the meshmerizer
482 prim.Scale = new OMV.Vector3(1f, 1f, 1f);
483 prim.BSShape = newShape;
484
485 return true; // 'true' means a new shape has been added to this prim
486 }
487
488 private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
489 {
490 IMesh meshData = null;
491 IntPtr meshPtr;
492 MeshDesc meshDesc;
493 if (Meshes.TryGetValue(newMeshKey, out meshDesc))
494 {
495 // If the mesh has already been built just use it.
496 meshPtr = meshDesc.ptr;
497 }
498 else
499 {
500 // Pass false for physicalness as this creates some sort of bounding box which we don't need
501 meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
502
503 int[] indices = meshData.getIndexListAsInt();
504 List<OMV.Vector3> vertices = meshData.getVertexList();
505
506 float[] verticesAsFloats = new float[vertices.Count * 3];
507 int vi = 0;
508 foreach (OMV.Vector3 vv in vertices)
509 {
510 verticesAsFloats[vi++] = vv.X;
511 verticesAsFloats[vi++] = vv.Y;
512 verticesAsFloats[vi++] = vv.Z;
513 }
514
515 // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
516 // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
517
518 meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
519 indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
520 }
521 BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH);
522 newShape.shapeKey = newMeshKey;
523
524 return newShape;
525 }
526
527 // See that hull shape exists in the physical world and update prim.BSShape.
528 // We could be creating the hull because scale changed or whatever.
529 private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
530 ShapeDestructionCallback shapeCallback)
531 {
532 BulletShape newShape;
533
534 float lod;
535 System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
536
537 // if the hull hasn't changed, don't rebuild it
538 if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
539 return false;
540
541 DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}",
542 prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
543
544 // Remove usage of the previous shape.
545 DereferenceShape(prim.BSShape, true, shapeCallback);
546
547 newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
548
549 ReferenceShape(newShape);
550
551 // hulls are already scaled by the meshmerizer
552 prim.Scale = new OMV.Vector3(1f, 1f, 1f);
553 prim.BSShape = newShape;
554 return true; // 'true' means a new shape has been added to this prim
555 }
556
557 List<ConvexResult> m_hulls;
558 private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
559 {
560
561 IntPtr hullPtr;
562 HullDesc hullDesc;
563 if (Hulls.TryGetValue(newHullKey, out hullDesc))
564 {
565 // If the hull shape already is created, just use it.
566 hullPtr = hullDesc.ptr;
567 }
568 else
569 {
570 // Build a new hull in the physical world
571 // Pass false for physicalness as this creates some sort of bounding box which we don't need
572 IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
573
574 int[] indices = meshData.getIndexListAsInt();
575 List<OMV.Vector3> vertices = meshData.getVertexList();
576
577 //format conversion from IMesh format to DecompDesc format
578 List<int> convIndices = new List<int>();
579 List<float3> convVertices = new List<float3>();
580 for (int ii = 0; ii < indices.GetLength(0); ii++)
581 {
582 convIndices.Add(indices[ii]);
583 }
584 foreach (OMV.Vector3 vv in vertices)
585 {
586 convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
587 }
588
589 // setup and do convex hull conversion
590 m_hulls = new List<ConvexResult>();
591 DecompDesc dcomp = new DecompDesc();
592 dcomp.mIndices = convIndices;
593 dcomp.mVertices = convVertices;
594 ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
595 // create the hull into the _hulls variable
596 convexBuilder.process(dcomp);
597
598 // Convert the vertices and indices for passing to unmanaged.
599 // The hull information is passed as a large floating point array.
600 // The format is:
601 // convHulls[0] = number of hulls
602 // convHulls[1] = number of vertices in first hull
603 // convHulls[2] = hull centroid X coordinate
604 // convHulls[3] = hull centroid Y coordinate
605 // convHulls[4] = hull centroid Z coordinate
606 // convHulls[5] = first hull vertex X
607 // convHulls[6] = first hull vertex Y
608 // convHulls[7] = first hull vertex Z
609 // convHulls[8] = second hull vertex X
610 // ...
611 // convHulls[n] = number of vertices in second hull
612 // convHulls[n+1] = second hull centroid X coordinate
613 // ...
614 //
615 // TODO: is is very inefficient. Someday change the convex hull generator to return
616 // data structures that do not need to be converted in order to pass to Bullet.
617 // And maybe put the values directly into pinned memory rather than marshaling.
618 int hullCount = m_hulls.Count;
619 int totalVertices = 1; // include one for the count of the hulls
620 foreach (ConvexResult cr in m_hulls)
621 {
622 totalVertices += 4; // add four for the vertex count and centroid
623 totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
624 }
625 float[] convHulls = new float[totalVertices];
626
627 convHulls[0] = (float)hullCount;
628 int jj = 1;
629 foreach (ConvexResult cr in m_hulls)
630 {
631 // copy vertices for index access
632 float3[] verts = new float3[cr.HullVertices.Count];
633 int kk = 0;
634 foreach (float3 ff in cr.HullVertices)
635 {
636 verts[kk++] = ff;
637 }
638
639 // add to the array one hull's worth of data
640 convHulls[jj++] = cr.HullIndices.Count;
641 convHulls[jj++] = 0f; // centroid x,y,z
642 convHulls[jj++] = 0f;
643 convHulls[jj++] = 0f;
644 foreach (int ind in cr.HullIndices)
645 {
646 convHulls[jj++] = verts[ind].x;
647 convHulls[jj++] = verts[ind].y;
648 convHulls[jj++] = verts[ind].z;
649 }
650 }
651 // create the hull data structure in Bullet
652 hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
653 }
654
655 BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
656 newShape.shapeKey = newHullKey;
657
658 return newShape; // 'true' means a new shape has been added to this prim
659 }
660
661 // Callback from convex hull creater with a newly created hull.
662 // Just add it to our collection of hulls for this shape.
663 private void HullReturn(ConvexResult result)
664 {
665 m_hulls.Add(result);
666 return;
667 }
668
669 // Create a hash of all the shape parameters to be used as a key
670 // for this particular shape.
671 private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
672 {
673 // level of detail based on size and type of the object
674 float lod = PhysicsScene.MeshLOD;
675 if (pbs.SculptEntry)
676 lod = PhysicsScene.SculptLOD;
677
678 // Mega prims usually get more detail because one can interact with shape approximations at this size.
679 float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z));
680 if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
681 lod = PhysicsScene.MeshMegaPrimLOD;
682
683 retLod = lod;
684 return pbs.GetMeshKey(shapeData.Size, lod);
685 }
686 // For those who don't want the LOD
687 private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
688 {
689 float lod;
690 return ComputeShapeKey(shapeData, pbs, out lod);
691 }
692
693 // Create a body object in Bullet.
694 // Updates prim.BSBody with the information about the new body if one is created.
695 // Returns 'true' if an object was actually created.
696 // Called at taint-time.
697 private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape,
698 ShapeData shapeData, BodyDestructionCallback bodyCallback)
699 {
700 bool ret = false;
701
702 // the mesh, hull or native shape must have already been created in Bullet
703 bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero);
704
705 // If there is an existing body, verify it's of an acceptable type.
706 // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
707 if (!mustRebuild)
708 {
709 CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.BSBody.ptr);
710 if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
711 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
712 {
713 // If the collisionObject is not the correct type for solidness, rebuild what's there
714 mustRebuild = true;
715 }
716
717 }
718
719 if (mustRebuild || forceRebuild)
720 {
721 // Free any old body
722 DereferenceBody(prim.BSBody, true, bodyCallback);
723
724 BulletBody aBody;
725 IntPtr bodyPtr = IntPtr.Zero;
726 if (prim.IsSolid)
727 {
728 bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
729 shapeData.ID, shapeData.Position, shapeData.Rotation);
730 DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
731 }
732 else
733 {
734 bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
735 shapeData.ID, shapeData.Position, shapeData.Rotation);
736 DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
737 }
738 aBody = new BulletBody(shapeData.ID, bodyPtr);
739
740 ReferenceBody(aBody, true);
741
742 prim.BSBody = aBody;
743
744 ret = true;
745 }
746
747 return ret;
748 }
749
750 private void DetailLog(string msg, params Object[] args)
751 {
752 if (PhysicsScene.PhysicsLogging.Enabled)
753 PhysicsScene.DetailLog(msg, args);
754 }
755}
756}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
new file mode 100755
index 0000000..caf411e
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -0,0 +1,492 @@
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 // Ground plane does not move
118 BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
119 // Everything collides with the ground plane.
120 BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
121 (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
122
123 Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
124 Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION);
125 int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
126 float[] initialMap = new float[totalHeights];
127 for (int ii = 0; ii < totalHeights; ii++)
128 {
129 initialMap[ii] = HEIGHT_INITIALIZATION;
130 }
131 UpdateOrCreateTerrain(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords, true);
132 }
133
134 // Release all the terrain structures we might have allocated
135 public void ReleaseGroundPlaneAndTerrain()
136 {
137 if (m_groundPlane.ptr != IntPtr.Zero)
138 {
139 if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
140 {
141 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
142 }
143 m_groundPlane.ptr = IntPtr.Zero;
144 }
145
146 ReleaseTerrain();
147 }
148
149 // Release all the terrain we have allocated
150 public void ReleaseTerrain()
151 {
152 foreach (KeyValuePair<Vector2, BulletHeightMapInfo> kvp in m_heightMaps)
153 {
154 if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr))
155 {
156 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr);
157 BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr);
158 }
159 }
160 m_heightMaps.Clear();
161 }
162
163 // The simulator wants to set a new heightmap for the terrain.
164 public void SetTerrain(float[] heightMap) {
165 float[] localHeightMap = heightMap;
166 PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
167 {
168 if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
169 {
170 // If a child of a mega-region, we shouldn't have any terrain allocated for us
171 ReleaseGroundPlaneAndTerrain();
172 // If doing the mega-prim stuff and we are the child of the zero region,
173 // the terrain is added to our parent
174 if (MegaRegionParentPhysicsScene is BSScene)
175 {
176 DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
177 BSScene.DetailLogZero, m_worldOffset, m_worldMax);
178 ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
179 localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
180 }
181 }
182 else
183 {
184 // If not doing the mega-prim thing, just change the terrain
185 DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
186
187 UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap,
188 m_worldOffset, m_worldOffset + DefaultRegionSize, true);
189 }
190 });
191 }
192
193 // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
194 // based on the passed information. The 'id' should be either the terrain id or
195 // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
196 // The latter feature is for creating child terrains for mega-regions.
197 // If called with a mapInfo in m_heightMaps but the terrain has no body yet (mapInfo.terrainBody.Ptr == 0)
198 // then a new body and shape is created and the mapInfo is filled.
199 // This call is used for doing the initial terrain creation.
200 // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
201 // terrain shape is created and added to the body.
202 // This call is most often used to update the heightMap and parameters of the terrain.
203 // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when
204 // calling this routine from initialization or taint-time routines) or whether to delay
205 // all the unmanaged activities to taint-time.
206 private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
207 {
208 DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
209 BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
210
211 float minZ = float.MaxValue;
212 float maxZ = float.MinValue;
213 Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y);
214
215 int heightMapSize = heightMap.Length;
216 for (int ii = 0; ii < heightMapSize; ii++)
217 {
218 float height = heightMap[ii];
219 if (height < minZ) minZ = height;
220 if (height > maxZ) maxZ = height;
221 }
222
223 // The shape of the terrain is from its base to its extents.
224 minCoords.Z = minZ;
225 maxCoords.Z = maxZ;
226
227 BulletHeightMapInfo mapInfo;
228 if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo))
229 {
230 // If this is terrain we know about, it's easy to update
231
232 mapInfo.heightMap = heightMap;
233 mapInfo.minCoords = minCoords;
234 mapInfo.maxCoords = maxCoords;
235 mapInfo.minZ = minZ;
236 mapInfo.maxZ = maxZ;
237 mapInfo.sizeX = maxCoords.X - minCoords.X;
238 mapInfo.sizeY = maxCoords.Y - minCoords.Y;
239 DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
240 BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
241
242 BSScene.TaintCallback rebuildOperation = delegate()
243 {
244 if (MegaRegionParentPhysicsScene != null)
245 {
246 // It's possible that Combine() was called after this code was queued.
247 // If we are a child of combined regions, we don't create any terrain for us.
248 DetailLog("{0},UpdateOrCreateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
249
250 // Get rid of any terrain that may have been allocated for us.
251 ReleaseGroundPlaneAndTerrain();
252
253 // I hate doing this, but just bail
254 return;
255 }
256
257 if (mapInfo.terrainBody.ptr != IntPtr.Zero)
258 {
259 // Updating an existing terrain.
260 DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
261 BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
262
263 // Remove from the dynamics world because we're going to mangle this object
264 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
265
266 // Get rid of the old terrain
267 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
268 BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr);
269 mapInfo.Ptr = IntPtr.Zero;
270
271 /*
272 // NOTE: This routine is half here because I can't get the terrain shape replacement
273 // to work. In the short term, the above three lines completely delete the old
274 // terrain and the code below recreates one from scratch.
275 // Hopefully the Bullet community will help me out on this one.
276
277 // First, release the old collision shape (there is only one terrain)
278 BulletSimAPI.DeleteCollisionShape2(m_physicsScene.World.Ptr, mapInfo.terrainShape.Ptr);
279
280 // Fill the existing height map info with the new location and size information
281 BulletSimAPI.FillHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.ID,
282 mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
283
284 // Create a terrain shape based on the new info
285 mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr));
286
287 // Stuff the shape into the existing terrain body
288 BulletSimAPI.SetBodyShape2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr, mapInfo.terrainShape.Ptr);
289 */
290 }
291 // else
292 {
293 // Creating a new terrain.
294 DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}",
295 BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ);
296
297 mapInfo.ID = id;
298 mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID,
299 mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
300
301 // Create the terrain shape from the mapInfo
302 mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
303 ShapeData.PhysicsShapeType.SHAPE_TERRAIN);
304
305 // The terrain object initial position is at the center of the object
306 Vector3 centerPos;
307 centerPos.X = minCoords.X + (mapInfo.sizeX / 2f);
308 centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f);
309 centerPos.Z = minZ + ((maxZ - minZ) / 2f);
310
311 mapInfo.terrainBody = new BulletBody(mapInfo.ID,
312 BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr,
313 id, centerPos, Quaternion.Identity));
314 }
315
316 // Make sure the entry is in the heightmap table
317 m_heightMaps[terrainRegionBase] = mapInfo;
318
319 // Set current terrain attributes
320 BulletSimAPI.SetFriction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
321 BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
322 BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
323 BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
324
325 // Return the new terrain to the world of physical objects
326 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
327
328 // redo its bounding box now that it is in the world
329 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
330
331 BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr,
332 (uint)CollisionFilterGroups.TerrainFilter,
333 (uint)CollisionFilterGroups.TerrainMask);
334
335 // Make sure the new shape is processed.
336 // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
337 BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
338
339 m_terrainModified = true;
340 };
341
342 // There is the option to do the changes now (we're already in 'taint time'), or
343 // to do the Bullet operations later.
344 if (inTaintTime)
345 rebuildOperation();
346 else
347 PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
348 }
349 else
350 {
351 // We don't know about this terrain so either we are creating a new terrain or
352 // our mega-prim child is giving us a new terrain to add to the phys world
353
354 // if this is a child terrain, calculate a unique terrain id
355 uint newTerrainID = id;
356 if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
357 newTerrainID = ++m_terrainCount;
358
359 float[] heightMapX = heightMap;
360 Vector3 minCoordsX = minCoords;
361 Vector3 maxCoordsX = maxCoords;
362
363 DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}",
364 BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
365
366 // Code that must happen at taint-time
367 BSScene.TaintCallback createOperation = delegate()
368 {
369 DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y);
370 // Create a new mapInfo that will be filled with the new info
371 mapInfo = new BulletHeightMapInfo(id, heightMapX,
372 BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID,
373 minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN));
374 // Put the unfilled heightmap info into the collection of same
375 m_heightMaps.Add(terrainRegionBase, mapInfo);
376 // Build the terrain
377 UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true);
378
379 m_terrainModified = true;
380 };
381
382 // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time.
383 if (inTaintTime)
384 createOperation();
385 else
386 PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
387 }
388 }
389
390 // Someday we will have complex terrain with caves and tunnels
391 public float GetTerrainHeightAtXYZ(Vector3 loc)
392 {
393 // For the moment, it's flat and convex
394 return GetTerrainHeightAtXY(loc.X, loc.Y);
395 }
396
397 // Given an X and Y, find the height of the terrain.
398 // Since we could be handling multiple terrains for a mega-region,
399 // the base of the region is calcuated assuming all regions are
400 // the same size and that is the default.
401 // Once the heightMapInfo is found, we have all the information to
402 // compute the offset into the array.
403 private float lastHeightTX = 999999f;
404 private float lastHeightTY = 999999f;
405 private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
406 private float GetTerrainHeightAtXY(float tX, float tY)
407 {
408 // You'd be surprized at the number of times this routine is called
409 // with the same parameters as last time.
410 if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY)
411 return lastHeight;
412
413 lastHeightTX = tX;
414 lastHeightTY = tY;
415 float ret = HEIGHT_GETHEIGHT_RET;
416
417 int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
418 int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
419 Vector2 terrainBaseXY = new Vector2(offsetX, offsetY);
420
421 BulletHeightMapInfo mapInfo;
422 if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo))
423 {
424 float regionX = tX - offsetX;
425 float regionY = tY - offsetY;
426 int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX;
427 try
428 {
429 ret = mapInfo.heightMap[mapIndex];
430 }
431 catch
432 {
433 // Sometimes they give us wonky values of X and Y. Give a warning and return something.
434 PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
435 LogHeader, terrainBaseXY, regionX, regionY);
436 ret = HEIGHT_GETHEIGHT_RET;
437 }
438 // DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}",
439 // BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret);
440 }
441 else
442 {
443 PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
444 LogHeader, PhysicsScene.RegionName, tX, tY);
445 }
446 m_terrainModified = false;
447 lastHeight = ret;
448 return ret;
449 }
450
451 // Although no one seems to check this, I do support combining.
452 public bool SupportsCombining()
453 {
454 return true;
455 }
456
457 // This routine is called two ways:
458 // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum
459 // extent of the combined regions. This is to inform the parent of the size
460 // of the combined regions.
461 // and one with 'offset' as the offset of the child region to the base region,
462 // 'pScene' pointing to the parent and 'extents' of zero. This informs the
463 // child of its relative base and new parent.
464 public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
465 {
466 m_worldOffset = offset;
467 m_worldMax = extents;
468 MegaRegionParentPhysicsScene = pScene;
469 if (pScene != null)
470 {
471 // We are a child.
472 // We want m_worldMax to be the highest coordinate of our piece of terrain.
473 m_worldMax = offset + DefaultRegionSize;
474 }
475 DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}",
476 BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax);
477 }
478
479 // Unhook all the combining that I know about.
480 public void UnCombine(PhysicsScene pScene)
481 {
482 // Just like ODE, for the moment a NOP
483 DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
484 }
485
486
487 private void DetailLog(string msg, params Object[] args)
488 {
489 PhysicsScene.PhysicsLogging.Write(msg, args);
490 }
491}
492}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 504bd3c..276111c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -33,38 +33,153 @@ 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 System.UInt64 shapeKey;
105 public bool isNativeShape;
106 public override string ToString()
107 {
108 StringBuilder buff = new StringBuilder();
109 buff.Append("<p=");
110 buff.Append(ptr.ToString("X"));
111 buff.Append(",s=");
112 buff.Append(type.ToString());
113 buff.Append(",k=");
114 buff.Append(shapeKey.ToString("X"));
115 buff.Append(",n=");
116 buff.Append(isNativeShape.ToString());
117 buff.Append(">");
118 return buff.ToString();
119 }
50} 120}
51 121
122 // Constraint type values as defined by Bullet
123public enum ConstraintType : int
124{
125 POINT2POINT_CONSTRAINT_TYPE = 3,
126 HINGE_CONSTRAINT_TYPE,
127 CONETWIST_CONSTRAINT_TYPE,
128 D6_CONSTRAINT_TYPE,
129 SLIDER_CONSTRAINT_TYPE,
130 CONTACT_CONSTRAINT_TYPE,
131 D6_SPRING_CONSTRAINT_TYPE,
132 MAX_CONSTRAINT_TYPE
133}
134
135// An allocated Bullet btConstraint
52public struct BulletConstraint 136public struct BulletConstraint
53{ 137{
54 public BulletConstraint(IntPtr xx) { Ptr = xx; } 138 public BulletConstraint(IntPtr xx)
139 {
140 ptr = xx;
141 }
142 public IntPtr ptr;
143}
144
145// An allocated HeightMapThing which holds various heightmap info.
146// Made a class rather than a struct so there would be only one
147// instance of this and C# will pass around pointers rather
148// than making copies.
149public class BulletHeightMapInfo
150{
151 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
152 ID = id;
153 Ptr = xx;
154 heightMap = hm;
155 terrainRegionBase = new Vector2(0f, 0f);
156 minCoords = new Vector3(100f, 100f, 25f);
157 maxCoords = new Vector3(101f, 101f, 26f);
158 minZ = maxZ = 0f;
159 sizeX = sizeY = 256f;
160 }
161 public uint ID;
55 public IntPtr Ptr; 162 public IntPtr Ptr;
163 public float[] heightMap;
164 public Vector2 terrainRegionBase;
165 public Vector3 minCoords;
166 public Vector3 maxCoords;
167 public float sizeX, sizeY;
168 public float minZ, maxZ;
169 public BulletShape terrainShape;
170 public BulletBody terrainBody;
56} 171}
57 172
58// =============================================================================== 173// ===============================================================================
59[StructLayout(LayoutKind.Sequential)] 174[StructLayout(LayoutKind.Sequential)]
60public struct ConvexHull 175public struct ConvexHull
61{ 176{
62 Vector3 Offset; 177 Vector3 Offset;
63 int VertexCount; 178 int VertexCount;
64 Vector3[] Vertices; 179 Vector3[] Vertices;
65} 180}
66[StructLayout(LayoutKind.Sequential)] 181[StructLayout(LayoutKind.Sequential)]
67public struct ShapeData 182public struct ShapeData
68{ 183{
69 public enum PhysicsShapeType 184 public enum PhysicsShapeType
70 { 185 {
@@ -75,7 +190,10 @@ public struct ShapeData
75 SHAPE_CYLINDER = 4, 190 SHAPE_CYLINDER = 4,
76 SHAPE_SPHERE = 5, 191 SHAPE_SPHERE = 5,
77 SHAPE_MESH = 6, 192 SHAPE_MESH = 6,
78 SHAPE_HULL = 7 193 SHAPE_HULL = 7,
194 // following defined by BulletSim
195 SHAPE_GROUNDPLANE = 20,
196 SHAPE_TERRAIN = 21,
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 +303,38 @@ 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;
307
308 public float physicsLoggingFrames;
177 309
178 public const float numericTrue = 1f; 310 public const float numericTrue = 1f;
179 public const float numericFalse = 0f; 311 public const float numericFalse = 0f;
180} 312}
181 313
182// Values used by Bullet and BulletSim to control collisions 314
315// The states a bullet collision object can have
316public enum ActivationState : uint
317{
318 ACTIVE_TAG = 1,
319 ISLAND_SLEEPING,
320 WANTS_DEACTIVATION,
321 DISABLE_DEACTIVATION,
322 DISABLE_SIMULATION,
323}
324
325public enum CollisionObjectTypes : int
326{
327 CO_COLLISION_OBJECT = 1 << 0,
328 CO_RIGID_BODY = 1 << 1,
329 CO_GHOST_OBJECT = 1 << 2,
330 CO_SOFT_BODY = 1 << 3,
331 CO_HF_FLUID = 1 << 4,
332 CO_USER_TYPE = 1 << 5,
333}
334
335// Values used by Bullet and BulletSim to control object properties.
336// Bullet's "CollisionFlags" has more to do with operations on the
337// object (if collisions happen, if gravity effects it, ...).
183public enum CollisionFlags : uint 338public enum CollisionFlags : uint
184{ 339{
185 CF_STATIC_OBJECT = 1 << 0, 340 CF_STATIC_OBJECT = 1 << 0,
@@ -191,11 +346,55 @@ public enum CollisionFlags : uint
191 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, 346 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
192 // Following used by BulletSim to control collisions 347 // Following used by BulletSim to control collisions
193 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, 348 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
194 BS_VOLUME_DETECT_OBJECT = 1 << 11, 349 BS_FLOATS_ON_WATER = 1 << 11,
195 BS_PHANTOM_OBJECT = 1 << 12, 350 BS_NONE = 0,
196 BS_PHYSICAL_OBJECT = 1 << 13, 351 BS_ALL = 0xFFFFFFFF,
352
353 // These are the collision flags switched depending on physical state.
354 // The other flags are used for other things and should not be fooled with.
355 BS_ACTIVE = CF_STATIC_OBJECT
356 | CF_KINEMATIC_OBJECT
357 | CF_NO_CONTACT_RESPONSE
358};
359
360// Values for collisions groups and masks
361public enum CollisionFilterGroups : uint
362{
363 // Don't use the bit definitions!! Define the use in a
364 // filter/mask definition below. This way collision interactions
365 // are more easily debugged.
366 BNoneFilter = 0,
367 BDefaultFilter = 1 << 0,
368 BStaticFilter = 1 << 1,
369 BKinematicFilter = 1 << 2,
370 BDebrisFilter = 1 << 3,
371 BSensorTrigger = 1 << 4,
372 BCharacterFilter = 1 << 5,
373 BAllFilter = 0xFFFFFFFF,
374 // Filter groups defined by BulletSim
375 BGroundPlaneFilter = 1 << 10,
376 BTerrainFilter = 1 << 11,
377 BRaycastFilter = 1 << 12,
378 BSolidFilter = 1 << 13,
379
380 // The collsion filters and masked are defined in one place -- don't want them scattered
381 AvatarFilter = BCharacterFilter,
382 AvatarMask = BAllFilter,
383 ObjectFilter = BSolidFilter,
384 ObjectMask = BAllFilter,
385 StaticObjectFilter = BStaticFilter,
386 StaticObjectMask = BAllFilter,
387 VolumeDetectFilter = BSensorTrigger,
388 VolumeDetectMask = ~BSensorTrigger,
389 TerrainFilter = BTerrainFilter,
390 TerrainMask = BAllFilter & ~BStaticFilter,
391 GroundPlaneFilter = BAllFilter,
392 GroundPlaneMask = BAllFilter
393
197}; 394};
198 395
396
397
199// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 398// 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. 399// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
201public enum ConstraintParams : int 400public enum ConstraintParams : int
@@ -221,14 +420,22 @@ public enum ConstraintParamAxis : int
221// =============================================================================== 420// ===============================================================================
222static class BulletSimAPI { 421static class BulletSimAPI {
223 422
423// Link back to the managed code for outputting log messages
424[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
425public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
426
224[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 427[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
225[return: MarshalAs(UnmanagedType.LPStr)] 428[return: MarshalAs(UnmanagedType.LPStr)]
226public static extern string GetVersion(); 429public static extern string GetVersion();
227 430
228[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 431[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
229public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, 432public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
230 int maxCollisions, IntPtr collisionArray, 433 int maxCollisions, IntPtr collisionArray,
231 int maxUpdates, IntPtr updateArray); 434 int maxUpdates, IntPtr updateArray,
435 DebugLogCallback logRoutine);
436
437[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
438public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
232 439
233[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 440[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
234public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); 441public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
@@ -242,19 +449,19 @@ public static extern bool UpdateParameter(uint worldID, uint localID,
242 449
243// =============================================================================== 450// ===============================================================================
244[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 451[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
245public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, 452public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
246 out int updatedEntityCount, 453 out int updatedEntityCount,
247 out IntPtr updatedEntitiesPtr, 454 out IntPtr updatedEntitiesPtr,
248 out int collidersCount, 455 out int collidersCount,
249 out IntPtr collidersPtr); 456 out IntPtr collidersPtr);
250 457
251[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 458[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
252public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, 459public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
253 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls 460 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
254 ); 461 );
255 462
256[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 463[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
257public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, 464public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
258 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, 465 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
259 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices 466 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
260 ); 467 );
@@ -268,23 +475,6 @@ public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
268[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 475[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
269public static extern bool CreateObject(uint worldID, ShapeData shapeData); 476public static extern bool CreateObject(uint worldID, ShapeData shapeData);
270 477
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] 478[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
289public static extern Vector3 GetObjectPosition(uint WorldID, uint id); 479public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
290 480
@@ -300,6 +490,7 @@ public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 veloc
300[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 490[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
301public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); 491public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
302 492
493// Set the current force acting on the object
303[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 494[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
304public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); 495public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
305 496
@@ -342,8 +533,6 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
342public static extern void DumpBulletStatistics(); 533public static extern void DumpBulletStatistics();
343 534
344// Log a debug message 535// Log a debug message
345[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
346public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
347[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 536[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
348public static extern void SetDebugLogCallback(DebugLogCallback callback); 537public static extern void SetDebugLogCallback(DebugLogCallback callback);
349 538
@@ -358,6 +547,7 @@ 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 547// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
359// and the old code is removed. 548// and the old code is removed.
360 549
550// Functions use while converting from API1 to API2. Can be removed when totally converted.
361[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 551[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
362public static extern IntPtr GetSimHandle2(uint worldID); 552public static extern IntPtr GetSimHandle2(uint worldID);
363 553
@@ -368,6 +558,7 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
368public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); 558public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
369 559
370// =============================================================================== 560// ===============================================================================
561// Initialization and simulation
371[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 562[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
372public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, 563public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
373 int maxCollisions, IntPtr collisionArray, 564 int maxCollisions, IntPtr collisionArray,
@@ -377,14 +568,14 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
377public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); 568public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
378 569
379[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 570[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
380public static extern void SetHeightmap2(IntPtr world, float[] heightmap); 571public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
381 572
382[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 573[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
383public static extern void Shutdown2(IntPtr sim); 574public static extern void Shutdown2(IntPtr sim);
384 575
385[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 576[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
386public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, 577public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
387 out int updatedEntityCount, 578 out int updatedEntityCount,
388 out IntPtr updatedEntitiesPtr, 579 out IntPtr updatedEntitiesPtr,
389 out int collidersCount, 580 out int collidersCount,
390 out IntPtr collidersPtr); 581 out IntPtr collidersPtr);
@@ -392,24 +583,87 @@ public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSt
392[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 583[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
393public static extern bool PushUpdate2(IntPtr obj); 584public static extern bool PushUpdate2(IntPtr obj);
394 585
395/* 586// =====================================================================================
587// Mesh, hull, shape and body creation helper routines
588[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
589public static extern IntPtr CreateMeshShape2(IntPtr world,
590 int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
591 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
592
593[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
594public static extern IntPtr CreateHullShape2(IntPtr world,
595 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
596
597[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
598public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
599
600[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
601public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
602
603[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
604public static extern bool IsNativeShape2(IntPtr shape);
605
606[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
607public static extern IntPtr CreateCompoundShape2(IntPtr sim);
608
609[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
610public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
611
612[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
613public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
614
615[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
616public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
617
618[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
619public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
620
621[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
622public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
623
624[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
625public static extern int GetBodyType2(IntPtr obj);
626
396[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 627[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
397public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices ); 628public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
398 629
399[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 630[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
400public static extern bool BuildHull2(IntPtr world, IntPtr mesh); 631public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
401 632
402[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 633[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
403public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh); 634public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
404 635
405[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 636[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
406public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh); 637public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
407 638
408[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 639[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
409public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData); 640public static extern void ReleaseBodyInfo2(IntPtr obj);
410*/
411 641
412[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 642[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
643public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
644
645// =====================================================================================
646// Terrain creation and helper routines
647[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
648public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
649 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
650
651[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
652public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, 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 bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
657
658[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
659public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
660
661[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
662public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
663
664// =====================================================================================
665// Constraint creation and helper routines
666[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
413public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, 667public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
414 Vector3 frame1loc, Quaternion frame1rot, 668 Vector3 frame1loc, Quaternion frame1rot,
415 Vector3 frame2loc, Quaternion frame2rot, 669 Vector3 frame2loc, Quaternion frame2rot,
@@ -433,7 +687,7 @@ public static extern void SetConstraintEnable2(IntPtr constrain, float numericTr
433public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); 687public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
434 688
435[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 689[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
436public static extern bool SetFrames2(IntPtr constrain, 690public static extern bool SetFrames2(IntPtr constrain,
437 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); 691 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
438 692
439[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 693[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -460,11 +714,108 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams
460[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 714[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
461public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); 715public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
462 716
717// =====================================================================================
718// btCollisionWorld entries
719[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
720public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
721
722[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
723public static extern void UpdateAabbs2(IntPtr world);
724
725[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
726public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
727
728[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
729public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
730
731// =====================================================================================
732// btDynamicsWorld entries
733[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
734public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
735
736[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
737public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
738
739[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
740public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
741
742[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
743public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
744// =====================================================================================
745// btCollisionObject entries
746[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
747public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
748
749[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
750public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
751
752[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
753public static extern bool HasAnisotripicFriction2(IntPtr constrain);
754
755[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
756public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
757
758[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
759public static extern float GetContactProcessingThreshold2(IntPtr obj);
760
761[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
762public static extern bool IsStaticObject2(IntPtr obj);
763
764[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
765public static extern bool IsKinematicObject2(IntPtr obj);
766
767[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
768public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
769
770[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
771public static extern bool HasContactResponse2(IntPtr obj);
772
773[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
774public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
775
776[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
777public static extern IntPtr GetCollisionShape2(IntPtr obj);
778
779[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
780public static extern int GetActivationState2(IntPtr obj);
781
782[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
783public static extern void SetActivationState2(IntPtr obj, int state);
784
785[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
786public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
787
788[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
789public static extern float GetDeactivationTime2(IntPtr obj);
790
791[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
792public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
793
794[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
795public static extern void Activate2(IntPtr obj, bool forceActivation);
796
797[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
798public static extern bool IsActive2(IntPtr obj);
799
800[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
801public static extern void SetRestitution2(IntPtr obj, float val);
802
803[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
804public static extern float GetRestitution2(IntPtr obj);
805
806[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
807public static extern void SetFriction2(IntPtr obj, float val);
808
463[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 809[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
464public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj); 810public static extern float GetFriction2(IntPtr obj);
465 811
812 /* Haven't defined the type 'Transform'
466[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 813[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
467public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj); 814public static extern Transform GetWorldTransform2(IntPtr obj);
815
816[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
817public static extern void setWorldTransform2(IntPtr obj, Transform trans);
818 */
468 819
469[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 820[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
470public static extern Vector3 GetPosition2(IntPtr obj); 821public static extern Vector3 GetPosition2(IntPtr obj);
@@ -473,85 +824,290 @@ public static extern Vector3 GetPosition2(IntPtr obj);
473public static extern Quaternion GetOrientation2(IntPtr obj); 824public static extern Quaternion GetOrientation2(IntPtr obj);
474 825
475[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 826[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
476public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); 827public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
477 828
478[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 829[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
479public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); 830public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
480 831
481[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 832[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
482public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); 833public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
483 834
835 /*
484[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 836[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
485public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); 837public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
486 838
487[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 839[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
488public static extern bool AddObjectForce2(IntPtr obj, Vector3 force); 840public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
841 */
489 842
490[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 843[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
491public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); 844public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
492 845
493[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 846[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
494public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); 847public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
495 848
496[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 849[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
497public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); 850public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
498 851
499[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 852[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
500public static extern bool SetDeactivationTime2(IntPtr obj, float val); 853public static extern float GetHitFraction2(IntPtr obj);
501 854
502[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 855[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
503public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); 856public static extern void SetHitFraction2(IntPtr obj, float val);
504 857
505[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 858[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
506public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); 859public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
507 860
508[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 861[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
509public static extern bool SetFriction2(IntPtr obj, float val); 862public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
510 863
511[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 864[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
512public static extern bool SetRestitution2(IntPtr obj, float val); 865public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
513 866
514[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 867[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
515public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); 868public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
516 869
517[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 870[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
518public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); 871public static extern float GetCcdMotionThreshold2(IntPtr obj);
519 872
520[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 873[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
521public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); 874public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
875
876[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
877public static extern float GetCcdSweepSphereRadius2(IntPtr obj);
878
879[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
880public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val);
881
882[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
883public static extern IntPtr GetUserPointer2(IntPtr obj);
884
885[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
886public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
887
888// =====================================================================================
889// btRigidBody entries
890[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
891public static extern void ApplyGravity2(IntPtr obj);
892
893[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
894public static extern void SetGravity2(IntPtr obj, Vector3 val);
895
896[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
897public static extern Vector3 GetGravity2(IntPtr obj);
898
899[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
900public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
901
902[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
903public static extern float GetLinearDamping2(IntPtr obj);
904
905[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
906public static extern float GetAngularDamping2(IntPtr obj);
907
908[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
909public static extern float GetLinearSleepingThreshold2(IntPtr obj);
910
911[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
912public static extern float GetAngularSleepingThreshold2(IntPtr obj);
913
914[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
915public static extern void ApplyDamping2(IntPtr obj, float timeStep);
916
917[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
918public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
919
920[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
921public static extern Vector3 GetLinearFactor2(IntPtr obj);
922
923[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
924public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
925
926 /*
927[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
928public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
929 */
930
931[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
932public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
933
934// Add a force to the object as if its mass is one.
935[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
936public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
937
938// Set the force being applied to the object as if its mass is one.
939[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
940public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
941
942[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
943public static extern Vector3 GetTotalForce2(IntPtr obj);
944
945[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
946public static extern Vector3 GetTotalTorque2(IntPtr obj);
947
948[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
949public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
950
951[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
952public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
953
954[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
955public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
956
957[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
958public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
959
960// Apply force at the given point. Will add torque to the object.
961[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
962public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
963
964// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
965[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
966public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
967
968// Apply impulse to the object's torque. Force is scaled by object's mass.
969[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
970public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
971
972// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
973[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
974public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
975
976[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
977public static extern void ClearForces2(IntPtr obj);
978
979[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
980public static extern void ClearAllForces2(IntPtr obj);
981
982[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
983public static extern void UpdateInertiaTensor2(IntPtr obj);
984
985[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
986public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
987
988 /*
989[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
990public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
991 */
992
993[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
994public static extern Vector3 GetLinearVelocity2(IntPtr obj);
995
996[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
997public static extern Vector3 GetAngularVelocity2(IntPtr obj);
998
999[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1000public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
1001
1002[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1003public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
1004
1005[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1006public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
1007
1008[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1009public static extern void Translate2(IntPtr obj, Vector3 trans);
1010
1011[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1012public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
1013
1014[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1015public static extern bool WantsSleeping2(IntPtr obj);
1016
1017[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1018public static extern void SetAngularFactor2(IntPtr obj, float factor);
1019
1020[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1021public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
1022
1023[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1024public static extern Vector3 GetAngularFactor2(IntPtr obj);
1025
1026[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1027public static extern bool IsInWorld2(IntPtr obj);
1028
1029[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1030public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
1031
1032[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1033public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
1034
1035[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1036public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
1037
1038[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1039public static extern int GetNumConstraintRefs2(IntPtr obj);
1040
1041[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1042public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
1043
1044// =====================================================================================
1045// btCollisionShape entries
1046
1047[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1048public static extern float GetAngularMotionDisc2(IntPtr shape);
1049
1050[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1051public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
1052
1053[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1054public static extern bool IsPolyhedral2(IntPtr shape);
1055
1056[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1057public static extern bool IsConvex2d2(IntPtr shape);
1058
1059[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1060public static extern bool IsConvex2(IntPtr shape);
1061
1062[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1063public static extern bool IsNonMoving2(IntPtr shape);
1064
1065[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1066public static extern bool IsConcave2(IntPtr shape);
1067
1068[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1069public static extern bool IsCompound2(IntPtr shape);
1070
1071[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1072public static extern bool IsSoftBody2(IntPtr shape);
1073
1074[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1075public static extern bool IsInfinite2(IntPtr shape);
522 1076
523[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1077[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
524public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags); 1078public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
525 1079
526[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1080[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
527public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); 1081public static extern Vector3 GetLocalScaling2(IntPtr shape);
528 1082
529[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1083[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
530public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); 1084public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
531 1085
532[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1086[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
533public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); 1087public static extern int GetShapeType2(IntPtr shape);
534 1088
535[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1089[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
536public static extern bool UpdateInertiaTensor2(IntPtr obj); 1090public static extern void SetMargin2(IntPtr shape, float val);
537 1091
538[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1092[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
539public static extern bool SetGravity2(IntPtr obj, Vector3 val); 1093public static extern float GetMargin2(IntPtr shape);
540 1094
1095// =====================================================================================
1096// Debugging
541[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1097[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
542public static extern IntPtr ClearForces2(IntPtr obj); 1098public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
543 1099
544[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1100[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
545public static extern IntPtr ClearAllForces2(IntPtr obj); 1101public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
546 1102
547[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1103[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
548public static extern bool SetMargin2(IntPtr obj, float val); 1104public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
549 1105
550[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1106[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
551public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); 1107public static extern void DumpAllInfo2(IntPtr sim);
552 1108
553[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1109[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
554public static extern bool DestroyObject2(IntPtr world, uint id); 1110public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
555 1111
556[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1112[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
557public static extern void DumpPhysicsStatistics2(IntPtr sim); 1113public static extern void DumpPhysicsStatistics2(IntPtr sim);