diff options
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 15 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 13 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 16 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 185 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 7 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 62 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 90 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 81 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 23 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 31 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 4 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/OdeScene.cs | 15 |
12 files changed, 335 insertions, 207 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 2a52e01..2e6b2da 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
@@ -263,7 +263,7 @@ public class BSCharacter : BSPhysObject | |||
263 | // A version of the sanity check that also makes sure a new position value is | 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 | 264 | // pushed back to the physics engine. This routine would be used by anyone |
265 | // who is not already pushing the value. | 265 | // who is not already pushing the value. |
266 | private bool PositionSanityCheck2(bool atTaintTime) | 266 | private bool PositionSanityCheck2(bool inTaintTime) |
267 | { | 267 | { |
268 | bool ret = false; | 268 | bool ret = false; |
269 | if (PositionSanityCheck()) | 269 | if (PositionSanityCheck()) |
@@ -275,7 +275,7 @@ public class BSCharacter : BSPhysObject | |||
275 | DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 275 | DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
276 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); | 276 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); |
277 | }; | 277 | }; |
278 | if (atTaintTime) | 278 | if (inTaintTime) |
279 | sanityOperation(); | 279 | sanityOperation(); |
280 | else | 280 | else |
281 | PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation); | 281 | PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation); |
@@ -332,6 +332,13 @@ public class BSCharacter : BSPhysObject | |||
332 | }); | 332 | }); |
333 | } | 333 | } |
334 | } | 334 | } |
335 | public override OMV.Vector3 ForceVelocity { | ||
336 | get { return _velocity; } | ||
337 | set { | ||
338 | _velocity = value; | ||
339 | BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity); | ||
340 | } | ||
341 | } | ||
335 | public override OMV.Vector3 Torque { | 342 | public override OMV.Vector3 Torque { |
336 | get { return _torque; } | 343 | get { return _torque; } |
337 | set { _torque = value; | 344 | set { _torque = value; |
@@ -432,6 +439,10 @@ public class BSCharacter : BSPhysObject | |||
432 | get { return _rotationalVelocity; } | 439 | get { return _rotationalVelocity; } |
433 | set { _rotationalVelocity = value; } | 440 | set { _rotationalVelocity = value; } |
434 | } | 441 | } |
442 | public override OMV.Vector3 ForceRotationalVelocity { | ||
443 | get { return _rotationalVelocity; } | ||
444 | set { _rotationalVelocity = value; } | ||
445 | } | ||
435 | public override bool Kinematic { | 446 | public override bool Kinematic { |
436 | get { return _kinematic; } | 447 | get { return _kinematic; } |
437 | set { _kinematic = value; } | 448 | set { _kinematic = value; } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 63a4127..a20be3a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | |||
@@ -49,9 +49,16 @@ public abstract class BSConstraint : IDisposable | |||
49 | if (m_enabled) | 49 | if (m_enabled) |
50 | { | 50 | { |
51 | m_enabled = false; | 51 | m_enabled = false; |
52 | bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); | 52 | if (m_constraint.ptr != IntPtr.Zero) |
53 | m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); | 53 | { |
54 | m_constraint.ptr = System.IntPtr.Zero; | 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 | } | ||
55 | } | 62 | } |
56 | } | 63 | } |
57 | 64 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 4ba2f62..56342b8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -462,7 +462,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
462 | return; | 462 | return; |
463 | 463 | ||
464 | // Set the prim's inertia to zero. The vehicle code handles that and this | 464 | // Set the prim's inertia to zero. The vehicle code handles that and this |
465 | // removes the torque action introduced by Bullet. | 465 | // removes the motion and torque actions introduced by Bullet. |
466 | Vector3 inertia = Vector3.Zero; | 466 | Vector3 inertia = Vector3.Zero; |
467 | BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); | 467 | BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); |
468 | BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); | 468 | BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); |
@@ -481,7 +481,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
481 | m_lastPositionVector = Prim.ForcePosition; | 481 | m_lastPositionVector = Prim.ForcePosition; |
482 | 482 | ||
483 | VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", | 483 | VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", |
484 | Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity); | 484 | Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity); |
485 | }// end Step | 485 | }// end Step |
486 | 486 | ||
487 | // Apply the effect of the linear motor. | 487 | // Apply the effect of the linear motor. |
@@ -540,7 +540,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
540 | // add Gravity and Buoyancy | 540 | // add Gravity and Buoyancy |
541 | // 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. |
542 | // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; | 542 | // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; |
543 | Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy)); | 543 | Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy)); |
544 | 544 | ||
545 | /* | 545 | /* |
546 | * RA: Not sure why one would do this | 546 | * RA: Not sure why one would do this |
@@ -678,10 +678,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
678 | m_newVelocity.Z = 0; | 678 | m_newVelocity.Z = 0; |
679 | 679 | ||
680 | // Apply velocity | 680 | // Apply velocity |
681 | Prim.Velocity = m_newVelocity; | 681 | Prim.ForceVelocity = m_newVelocity; |
682 | // apply gravity force | 682 | // apply gravity force |
683 | // Why is this set here? The physics engine already does gravity. | 683 | // Why is this set here? The physics engine already does gravity. |
684 | // m_prim.AddForce(grav, false); | 684 | Prim.AddForce(grav, false, true); |
685 | 685 | ||
686 | // Apply friction | 686 | // Apply friction |
687 | Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); | 687 | Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); |
@@ -704,7 +704,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
704 | // m_lastAngularVelocity // what was last applied to body | 704 | // m_lastAngularVelocity // what was last applied to body |
705 | 705 | ||
706 | // Get what the body is doing, this includes 'external' influences | 706 | // Get what the body is doing, this includes 'external' influences |
707 | Vector3 angularVelocity = Prim.RotationalVelocity; | 707 | Vector3 angularVelocity = Prim.ForceRotationalVelocity; |
708 | 708 | ||
709 | if (m_angularMotorApply > 0) | 709 | if (m_angularMotorApply > 0) |
710 | { | 710 | { |
@@ -810,7 +810,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
810 | m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; | 810 | m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; |
811 | 811 | ||
812 | // Apply to the body | 812 | // Apply to the body |
813 | Prim.RotationalVelocity = m_lastAngularVelocity; | 813 | Prim.ForceRotationalVelocity = m_lastAngularVelocity; |
814 | 814 | ||
815 | VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); | 815 | VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); |
816 | } //end MoveAngular | 816 | } //end MoveAngular |
@@ -862,7 +862,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
862 | private void VDetailLog(string msg, params Object[] args) | 862 | private void VDetailLog(string msg, params Object[] args) |
863 | { | 863 | { |
864 | if (Prim.PhysicsScene.VehicleLoggingEnabled) | 864 | if (Prim.PhysicsScene.VehicleLoggingEnabled) |
865 | Prim.PhysicsScene.PhysicsLogging.Write(msg, args); | 865 | Prim.PhysicsScene.DetailLog(msg, args); |
866 | } | 866 | } |
867 | } | 867 | } |
868 | } | 868 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 3e82642..43b1262 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | |||
@@ -52,8 +52,8 @@ public class BSLinkset | |||
52 | // the physical 'taint' children separately. | 52 | // the physical 'taint' children separately. |
53 | // After taint processing and before the simulation step, these | 53 | // After taint processing and before the simulation step, these |
54 | // two lists must be the same. | 54 | // two lists must be the same. |
55 | private List<BSPhysObject> m_children; | 55 | private HashSet<BSPhysObject> m_children; |
56 | private List<BSPhysObject> m_taintChildren; | 56 | private HashSet<BSPhysObject> m_taintChildren; |
57 | 57 | ||
58 | // We lock the diddling of linkset classes to prevent any badness. | 58 | // We lock the diddling of linkset classes to prevent any badness. |
59 | // This locks the modification of the instances of this class. Changes | 59 | // This locks the modification of the instances of this class. Changes |
@@ -90,8 +90,8 @@ public class BSLinkset | |||
90 | m_nextLinksetID = 1; | 90 | m_nextLinksetID = 1; |
91 | PhysicsScene = scene; | 91 | PhysicsScene = scene; |
92 | LinksetRoot = parent; | 92 | LinksetRoot = parent; |
93 | m_children = new List<BSPhysObject>(); | 93 | m_children = new HashSet<BSPhysObject>(); |
94 | m_taintChildren = new List<BSPhysObject>(); | 94 | m_taintChildren = new HashSet<BSPhysObject>(); |
95 | m_mass = parent.MassRaw; | 95 | m_mass = parent.MassRaw; |
96 | } | 96 | } |
97 | 97 | ||
@@ -160,6 +160,28 @@ public class BSLinkset | |||
160 | return ret; | 160 | return ret; |
161 | } | 161 | } |
162 | 162 | ||
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 | |||
163 | // The object is going dynamic (physical). Do any setup necessary | 185 | // The object is going dynamic (physical). Do any setup necessary |
164 | // for a dynamic linkset. | 186 | // for a dynamic linkset. |
165 | // Only the state of the passed object can be modified. The rest of the linkset | 187 | // Only the state of the passed object can be modified. The rest of the linkset |
@@ -182,22 +204,19 @@ public class BSLinkset | |||
182 | return false; | 204 | return false; |
183 | } | 205 | } |
184 | 206 | ||
185 | // When physical properties are changed the linkset needs to recalculate | 207 | // If the software is handling the movement of all the objects in a linkset |
186 | // its internal properties. | 208 | // (like if one doesn't use constraints for static linksets), this is called |
187 | // Called at runtime. | 209 | // when an update for the root of the linkset is received. |
188 | public void Refresh(BSPhysObject requestor) | 210 | // Called at taint-time!! |
211 | public void UpdateProperties(BSPhysObject physObject) | ||
189 | { | 212 | { |
190 | // If there are no children, there can't be any constraints to recompute | 213 | // The root local properties have been updated. Apply to the children if appropriate. |
191 | if (!HasAnyChildren) | 214 | if (IsRoot(physObject) && HasAnyChildren) |
192 | return; | ||
193 | |||
194 | // Only the root does the recomputation | ||
195 | if (IsRoot(requestor)) | ||
196 | { | 215 | { |
197 | PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate() | 216 | if (!physObject.IsPhysical) |
198 | { | 217 | { |
199 | RecomputeLinksetConstraintVariables(); | 218 | // TODO: implement software linkset update for static object linksets |
200 | }); | 219 | } |
201 | } | 220 | } |
202 | } | 221 | } |
203 | 222 | ||
@@ -215,13 +234,10 @@ public class BSLinkset | |||
215 | if (IsRoot(child)) | 234 | if (IsRoot(child)) |
216 | { | 235 | { |
217 | // If the one with the dependency is root, must undo all children | 236 | // If the one with the dependency is root, must undo all children |
218 | DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}", | 237 | DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", |
219 | child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); | 238 | child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); |
220 | foreach (BSPhysObject bpo in m_taintChildren) | 239 | |
221 | { | 240 | ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); |
222 | PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody); | ||
223 | ret = true; | ||
224 | } | ||
225 | } | 241 | } |
226 | else | 242 | else |
227 | { | 243 | { |
@@ -229,20 +245,16 @@ public class BSLinkset | |||
229 | child.LocalID, | 245 | child.LocalID, |
230 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), | 246 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), |
231 | child.LocalID, child.BSBody.ptr.ToString("X")); | 247 | child.LocalID, child.BSBody.ptr.ToString("X")); |
232 | // Remove the dependency on the body of this one | 248 | // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child); |
233 | if (m_taintChildren.Contains(child)) | 249 | // Despite the function name, this removes any link to the specified object. |
234 | { | 250 | ret = PhysicallyUnlinkAllChildrenFromRoot(child); |
235 | PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody); | ||
236 | ret = true; | ||
237 | } | ||
238 | } | 251 | } |
239 | } | 252 | } |
240 | return ret; | 253 | return ret; |
241 | } | 254 | } |
242 | 255 | ||
243 | // Routine used when rebuilding the body of the root of the linkset | 256 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', |
244 | // This is called after RemoveAllLinksToRoot() to restore all the constraints. | 257 | // this routine will restore the removed constraints. |
245 | // This is called when the root body has been changed. | ||
246 | // Called at taint-time!! | 258 | // Called at taint-time!! |
247 | public void RestoreBodyDependencies(BSPrim child) | 259 | public void RestoreBodyDependencies(BSPrim child) |
248 | { | 260 | { |
@@ -254,7 +266,7 @@ public class BSLinkset | |||
254 | child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); | 266 | child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); |
255 | foreach (BSPhysObject bpo in m_taintChildren) | 267 | foreach (BSPhysObject bpo in m_taintChildren) |
256 | { | 268 | { |
257 | PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody); | 269 | PhysicallyLinkAChildToRoot(LinksetRoot, bpo); |
258 | } | 270 | } |
259 | } | 271 | } |
260 | else | 272 | else |
@@ -263,7 +275,7 @@ public class BSLinkset | |||
263 | LinksetRoot.LocalID, | 275 | LinksetRoot.LocalID, |
264 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), | 276 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), |
265 | child.LocalID, child.BSBody.ptr.ToString("X")); | 277 | child.LocalID, child.BSBody.ptr.ToString("X")); |
266 | PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody); | 278 | PhysicallyLinkAChildToRoot(LinksetRoot, child); |
267 | } | 279 | } |
268 | } | 280 | } |
269 | } | 281 | } |
@@ -330,22 +342,22 @@ public class BSLinkset | |||
330 | { | 342 | { |
331 | m_children.Add(child); | 343 | m_children.Add(child); |
332 | 344 | ||
333 | BSPhysObject rootx = LinksetRoot; // capture the root and body as of now | 345 | BSPhysObject rootx = LinksetRoot; // capture the root as of now |
334 | BSPhysObject childx = child; | 346 | BSPhysObject childx = child; |
335 | 347 | ||
336 | DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", | 348 | DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); |
337 | rootx.LocalID, | ||
338 | rootx.LocalID, rootx.BSBody.ptr.ToString("X"), | ||
339 | childx.LocalID, childx.BSBody.ptr.ToString("X")); | ||
340 | 349 | ||
341 | PhysicsScene.TaintedObject("AddChildToLinkset", delegate() | 350 | PhysicsScene.TaintedObject("AddChildToLinkset", delegate() |
342 | { | 351 | { |
343 | DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); | 352 | DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", |
344 | // build the physical binding between me and the child | 353 | rootx.LocalID, |
345 | m_taintChildren.Add(childx); | 354 | rootx.LocalID, rootx.BSBody.ptr.ToString("X"), |
346 | 355 | childx.LocalID, childx.BSBody.ptr.ToString("X")); | |
347 | // Since this is taint-time, the body and shape could have changed for the child | 356 | // Since this is taint-time, the body and shape could have changed for the child |
348 | PhysicallyLinkAChildToRoot(rootx, rootx.BSBody, childx, childx.BSBody); | 357 | rootx.ForcePosition = rootx.Position; // DEBUG |
358 | childx.ForcePosition = childx.Position; // DEBUG | ||
359 | PhysicallyLinkAChildToRoot(rootx, childx); | ||
360 | m_taintChildren.Add(child); | ||
349 | }); | 361 | }); |
350 | } | 362 | } |
351 | return; | 363 | return; |
@@ -378,10 +390,8 @@ public class BSLinkset | |||
378 | 390 | ||
379 | PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() | 391 | PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() |
380 | { | 392 | { |
381 | if (m_taintChildren.Contains(childx)) | 393 | m_taintChildren.Remove(child); |
382 | m_taintChildren.Remove(childx); | 394 | PhysicallyUnlinkAChildFromRoot(rootx, childx); |
383 | |||
384 | PhysicallyUnlinkAChildFromRoot(rootx, rootx.BSBody, childx, childx.BSBody); | ||
385 | RecomputeLinksetConstraintVariables(); | 395 | RecomputeLinksetConstraintVariables(); |
386 | }); | 396 | }); |
387 | 397 | ||
@@ -396,8 +406,7 @@ public class BSLinkset | |||
396 | 406 | ||
397 | // 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). |
398 | // Called at taint time! | 408 | // Called at taint time! |
399 | private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody, | 409 | private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) |
400 | BSPhysObject childPrim, BulletBody childBody) | ||
401 | { | 410 | { |
402 | // Zero motion for children so they don't interpolate | 411 | // Zero motion for children so they don't interpolate |
403 | childPrim.ZeroMotion(); | 412 | childPrim.ZeroMotion(); |
@@ -409,33 +418,17 @@ public class BSLinkset | |||
409 | // real world coordinate of midpoint between the two objects | 418 | // real world coordinate of midpoint between the two objects |
410 | OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); | 419 | OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); |
411 | 420 | ||
412 | DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", | 421 | DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", |
413 | rootPrim.LocalID, | 422 | rootPrim.LocalID, |
414 | rootPrim.LocalID, rootBody.ptr.ToString("X"), | 423 | rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), |
415 | childPrim.LocalID, childBody.ptr.ToString("X"), | 424 | childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), |
416 | rootPrim.Position, childPrim.Position, midPoint); | 425 | rootPrim.Position, childPrim.Position, midPoint); |
417 | 426 | ||
418 | // 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 |
419 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | 428 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 |
420 | 429 | ||
421 | // There is great subtlty in these paramters. Notice the check for a ptr of zero. | ||
422 | // We pass the BulletBody structure into the taint in order to capture the pointer | ||
423 | // of the body at the time of constraint creation. This doesn't work for the very first | ||
424 | // construction because there is no body yet. The body | ||
425 | // is constructed later at taint time. Thus we use the body address at time of the | ||
426 | // taint creation but, if it is zero, use what's in the prim at the moment. | ||
427 | // There is a possible race condition since shape can change without a taint call | ||
428 | // (like changing to a mesh that is already constructed). The fix for that would be | ||
429 | // to only change BSShape at taint time thus syncronizing these operations at | ||
430 | // the cost of efficiency and lag. | ||
431 | BS6DofConstraint constrain = new BS6DofConstraint( | 430 | BS6DofConstraint constrain = new BS6DofConstraint( |
432 | PhysicsScene.World, | 431 | PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); |
433 | rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody, | ||
434 | childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody, | ||
435 | midPoint, | ||
436 | true, | ||
437 | true | ||
438 | ); | ||
439 | 432 | ||
440 | /* NOTE: below is an attempt to build constraint with full frame computation, etc. | 433 | /* NOTE: below is an attempt to build constraint with full frame computation, etc. |
441 | * Using the midpoint is easier since it lets the Bullet code manipulate the transforms | 434 | * Using the midpoint is easier since it lets the Bullet code manipulate the transforms |
@@ -452,7 +445,7 @@ public class BSLinkset | |||
452 | 445 | ||
453 | // 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 |
454 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | 447 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 |
455 | DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); | 448 | DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); |
456 | BS6DofConstraint constrain = new BS6DofConstraint( | 449 | BS6DofConstraint constrain = new BS6DofConstraint( |
457 | PhysicsScene.World, rootPrim.Body, childPrim.Body, | 450 | PhysicsScene.World, rootPrim.Body, childPrim.Body, |
458 | OMV.Vector3.Zero, | 451 | OMV.Vector3.Zero, |
@@ -486,39 +479,44 @@ public class BSLinkset | |||
486 | { | 479 | { |
487 | constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); | 480 | constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); |
488 | } | 481 | } |
489 | |||
490 | RecomputeLinksetConstraintVariables(); | ||
491 | } | 482 | } |
492 | 483 | ||
493 | // Remove linkage between myself and a particular child | 484 | // Remove linkage between myself and a particular child |
494 | // The root and child bodies are passed in because we need to remove the constraint between | 485 | // The root and child bodies are passed in because we need to remove the constraint between |
495 | // the bodies that were at unlink time. | 486 | // the bodies that were at unlink time. |
496 | // Called at taint time! | 487 | // Called at taint time! |
497 | private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody, | 488 | private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) |
498 | BSPhysObject childPrim, BulletBody childBody) | ||
499 | { | 489 | { |
500 | DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", | 490 | bool ret = false; |
491 | DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", | ||
501 | rootPrim.LocalID, | 492 | rootPrim.LocalID, |
502 | rootPrim.LocalID, rootBody.ptr.ToString("X"), | 493 | rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), |
503 | childPrim.LocalID, childBody.ptr.ToString("X")); | 494 | childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); |
504 | 495 | ||
505 | // 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 |
506 | PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody); | 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 | } | ||
507 | 503 | ||
508 | // Make the child refresh its location | 504 | return ret; |
509 | BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); | ||
510 | } | 505 | } |
511 | 506 | ||
512 | /* | ||
513 | // Remove linkage between myself and any possible children I might have. | 507 | // Remove linkage between myself and any possible children I might have. |
514 | // Called at taint time! | 508 | // Called at taint time! |
515 | private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) | 509 | private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) |
516 | { | 510 | { |
517 | DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); | 511 | DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); |
512 | bool ret = false; | ||
518 | 513 | ||
519 | PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); | 514 | if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) |
515 | { | ||
516 | ret = true; | ||
517 | } | ||
518 | return ret; | ||
520 | } | 519 | } |
521 | */ | ||
522 | 520 | ||
523 | // Call each of the constraints that make up this linkset and recompute the | 521 | // Call each of the constraints that make up this linkset and recompute the |
524 | // various transforms and variables. Used when objects are added or removed | 522 | // various transforms and variables. Used when objects are added or removed |
@@ -550,11 +548,17 @@ public class BSLinkset | |||
550 | { | 548 | { |
551 | // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass | 549 | // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass |
552 | OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); | 550 | OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); |
553 | BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); | 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")); | ||
554 | foreach (BSPhysObject child in m_taintChildren) | 555 | foreach (BSPhysObject child in m_taintChildren) |
555 | { | 556 | { |
556 | BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); | 557 | BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, |
558 | centerOfMass, OMV.Quaternion.Identity); | ||
557 | } | 559 | } |
560 | |||
561 | // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG | ||
558 | } | 562 | } |
559 | return; | 563 | return; |
560 | } | 564 | } |
@@ -563,7 +567,8 @@ public class BSLinkset | |||
563 | // Invoke the detailed logger and output something if it's enabled. | 567 | // Invoke the detailed logger and output something if it's enabled. |
564 | private void DetailLog(string msg, params Object[] args) | 568 | private void DetailLog(string msg, params Object[] args) |
565 | { | 569 | { |
566 | PhysicsScene.PhysicsLogging.Write(msg, args); | 570 | if (PhysicsScene.PhysicsLogging.Enabled) |
571 | PhysicsScene.DetailLog(msg, args); | ||
567 | } | 572 | } |
568 | 573 | ||
569 | } | 574 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 1ac8c59..cae599c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -85,6 +85,10 @@ public abstract class BSPhysObject : PhysicsActor | |||
85 | 85 | ||
86 | public abstract OMV.Quaternion ForceOrientation { get; set; } | 86 | public abstract OMV.Quaternion ForceOrientation { get; set; } |
87 | 87 | ||
88 | public abstract OMV.Vector3 ForceVelocity { get; set; } | ||
89 | |||
90 | public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } | ||
91 | |||
88 | #region Collisions | 92 | #region Collisions |
89 | 93 | ||
90 | // Requested number of milliseconds between collision events. Zero means disabled. | 94 | // Requested number of milliseconds between collision events. Zero means disabled. |
@@ -207,7 +211,8 @@ public abstract class BSPhysObject : PhysicsActor | |||
207 | // High performance detailed logging routine used by the physical objects. | 211 | // High performance detailed logging routine used by the physical objects. |
208 | protected void DetailLog(string msg, params Object[] args) | 212 | protected void DetailLog(string msg, params Object[] args) |
209 | { | 213 | { |
210 | PhysicsScene.PhysicsLogging.Write(msg, args); | 214 | if (PhysicsScene.PhysicsLogging.Enabled) |
215 | PhysicsScene.DetailLog(msg, args); | ||
211 | } | 216 | } |
212 | } | 217 | } |
213 | } | 218 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index f7b68ba..6a4365c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -196,7 +196,7 @@ public sealed class BSPrim : BSPhysObject | |||
196 | _isSelected = value; | 196 | _isSelected = value; |
197 | PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() | 197 | PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() |
198 | { | 198 | { |
199 | // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); | 199 | DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); |
200 | SetObjectDynamic(false); | 200 | SetObjectDynamic(false); |
201 | }); | 201 | }); |
202 | } | 202 | } |
@@ -265,6 +265,11 @@ public sealed class BSPrim : BSPhysObject | |||
265 | return _position; | 265 | return _position; |
266 | } | 266 | } |
267 | set { | 267 | set { |
268 | // If you must push the position into the physics engine, use ForcePosition. | ||
269 | if (_position == value) | ||
270 | { | ||
271 | return; | ||
272 | } | ||
268 | _position = value; | 273 | _position = value; |
269 | // 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? |
270 | PositionSanityCheck(); | 275 | PositionSanityCheck(); |
@@ -322,7 +327,7 @@ public sealed class BSPrim : BSPhysObject | |||
322 | // A version of the sanity check that also makes sure a new position value is | 327 | // A version of the sanity check that also makes sure a new position value is |
323 | // pushed back to the physics engine. This routine would be used by anyone | 328 | // pushed back to the physics engine. This routine would be used by anyone |
324 | // who is not already pushing the value. | 329 | // who is not already pushing the value. |
325 | private bool PositionSanityCheck2(bool atTaintTime) | 330 | private bool PositionSanityCheck2(bool inTaintTime) |
326 | { | 331 | { |
327 | bool ret = false; | 332 | bool ret = false; |
328 | if (PositionSanityCheck()) | 333 | if (PositionSanityCheck()) |
@@ -334,7 +339,7 @@ public sealed class BSPrim : BSPhysObject | |||
334 | DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 339 | DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
335 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); | 340 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); |
336 | }; | 341 | }; |
337 | if (atTaintTime) | 342 | if (inTaintTime) |
338 | sanityOperation(); | 343 | sanityOperation(); |
339 | else | 344 | else |
340 | PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation); | 345 | PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation); |
@@ -453,7 +458,6 @@ public sealed class BSPrim : BSPhysObject | |||
453 | } | 458 | } |
454 | return; | 459 | return; |
455 | } | 460 | } |
456 | |||
457 | public override OMV.Vector3 Velocity { | 461 | public override OMV.Vector3 Velocity { |
458 | get { return _velocity; } | 462 | get { return _velocity; } |
459 | set { | 463 | set { |
@@ -465,6 +469,13 @@ public sealed class BSPrim : BSPhysObject | |||
465 | }); | 469 | }); |
466 | } | 470 | } |
467 | } | 471 | } |
472 | public override OMV.Vector3 ForceVelocity { | ||
473 | get { return _velocity; } | ||
474 | set { | ||
475 | _velocity = value; | ||
476 | BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); | ||
477 | } | ||
478 | } | ||
468 | public override OMV.Vector3 Torque { | 479 | public override OMV.Vector3 Torque { |
469 | get { return _torque; } | 480 | get { return _torque; } |
470 | set { _torque = value; | 481 | set { _torque = value; |
@@ -490,6 +501,8 @@ public sealed class BSPrim : BSPhysObject | |||
490 | return _orientation; | 501 | return _orientation; |
491 | } | 502 | } |
492 | set { | 503 | set { |
504 | if (_orientation == value) | ||
505 | return; | ||
493 | _orientation = value; | 506 | _orientation = value; |
494 | // 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? |
495 | PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() | 508 | PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() |
@@ -570,7 +583,7 @@ public sealed class BSPrim : BSPhysObject | |||
570 | // Set up the object physicalness (does gravity and collisions move this object) | 583 | // Set up the object physicalness (does gravity and collisions move this object) |
571 | MakeDynamic(IsStatic); | 584 | MakeDynamic(IsStatic); |
572 | 585 | ||
573 | // Update vehicle specific parameters | 586 | // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) |
574 | _vehicle.Refresh(); | 587 | _vehicle.Refresh(); |
575 | 588 | ||
576 | // Arrange for collision events if the simulator wants them | 589 | // Arrange for collision events if the simulator wants them |
@@ -593,7 +606,7 @@ public sealed class BSPrim : BSPhysObject | |||
593 | // Recompute any linkset parameters. | 606 | // Recompute any linkset parameters. |
594 | // When going from non-physical to physical, this re-enables the constraints that | 607 | // When going from non-physical to physical, this re-enables the constraints that |
595 | // had been automatically disabled when the mass was set to zero. | 608 | // had been automatically disabled when the mass was set to zero. |
596 | Linkset.Refresh(this); | 609 | Linkset.Refresh(this, true); |
597 | 610 | ||
598 | DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", | 611 | DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", |
599 | LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); | 612 | LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); |
@@ -620,8 +633,10 @@ public sealed class BSPrim : BSPhysObject | |||
620 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); | 633 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); |
621 | // There can be special things needed for implementing linksets | 634 | // There can be special things needed for implementing linksets |
622 | Linkset.MakeStatic(this); | 635 | Linkset.MakeStatic(this); |
623 | // The activation state is 'disabled' so Bullet will not try to act on it | 636 | // The activation state is 'disabled' so Bullet will not try to act on it. |
624 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); | 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); | ||
625 | 640 | ||
626 | BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; | 641 | BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; |
627 | BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; | 642 | BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; |
@@ -638,6 +653,9 @@ public sealed class BSPrim : BSPhysObject | |||
638 | // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 | 653 | // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 |
639 | BulletSimAPI.ClearAllForces2(BSBody.ptr); | 654 | BulletSimAPI.ClearAllForces2(BSBody.ptr); |
640 | 655 | ||
656 | // For good measure, make sure the transform is set through to the motion state | ||
657 | BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); | ||
658 | |||
641 | // A dynamic object has mass | 659 | // A dynamic object has mass |
642 | IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); | 660 | IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); |
643 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); | 661 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); |
@@ -655,8 +673,8 @@ public sealed class BSPrim : BSPhysObject | |||
655 | 673 | ||
656 | // Force activation of the object so Bullet will act on it. | 674 | // Force activation of the object so Bullet will act on it. |
657 | // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. | 675 | // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. |
658 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); | 676 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); |
659 | BulletSimAPI.Activate2(BSBody.ptr, true); | 677 | // BulletSimAPI.Activate2(BSBody.ptr, true); |
660 | 678 | ||
661 | BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; | 679 | BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; |
662 | BSBody.collisionMask = CollisionFilterGroups.ObjectMask; | 680 | BSBody.collisionMask = CollisionFilterGroups.ObjectMask; |
@@ -774,6 +792,15 @@ public sealed class BSPrim : BSPhysObject | |||
774 | }); | 792 | }); |
775 | } | 793 | } |
776 | } | 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 | } | ||
803 | } | ||
777 | public override bool Kinematic { | 804 | public override bool Kinematic { |
778 | get { return _kinematic; } | 805 | get { return _kinematic; } |
779 | set { _kinematic = value; | 806 | set { _kinematic = value; |
@@ -828,6 +855,9 @@ public sealed class BSPrim : BSPhysObject | |||
828 | 855 | ||
829 | private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>(); | 856 | private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>(); |
830 | 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) { | ||
831 | // 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 |
832 | if (force.IsFinite()) | 862 | if (force.IsFinite()) |
833 | { | 863 | { |
@@ -840,11 +870,12 @@ public sealed class BSPrim : BSPhysObject | |||
840 | m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); | 870 | m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); |
841 | return; | 871 | return; |
842 | } | 872 | } |
843 | PhysicsScene.TaintedObject("BSPrim.AddForce", delegate() | 873 | BSScene.TaintCallback addForceOperation = delegate() |
844 | { | 874 | { |
845 | OMV.Vector3 fSum = OMV.Vector3.Zero; | 875 | OMV.Vector3 fSum = OMV.Vector3.Zero; |
846 | lock (m_accumulatedForces) | 876 | lock (m_accumulatedForces) |
847 | { | 877 | { |
878 | // Sum the accumulated additional forces for one big force to apply once. | ||
848 | foreach (OMV.Vector3 v in m_accumulatedForces) | 879 | foreach (OMV.Vector3 v in m_accumulatedForces) |
849 | { | 880 | { |
850 | fSum += v; | 881 | fSum += v; |
@@ -854,7 +885,11 @@ public sealed class BSPrim : BSPhysObject | |||
854 | // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); | 885 | // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); |
855 | // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. | 886 | // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. |
856 | BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); | 887 | BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); |
857 | }); | 888 | }; |
889 | if (inTaintTime) | ||
890 | addForceOperation(); | ||
891 | else | ||
892 | PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation); | ||
858 | } | 893 | } |
859 | 894 | ||
860 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { | 895 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { |
@@ -1204,6 +1239,7 @@ public sealed class BSPrim : BSPhysObject | |||
1204 | { | 1239 | { |
1205 | // Called if the current prim body is about to be destroyed. | 1240 | // Called if the current prim body is about to be destroyed. |
1206 | // Remove all the physical dependencies on the old body. | 1241 | // Remove all the physical dependencies on the old body. |
1242 | // (Maybe someday make the changing of BSShape an event handled by BSLinkset.) | ||
1207 | needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); | 1243 | needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); |
1208 | }); | 1244 | }); |
1209 | 1245 | ||
@@ -1294,6 +1330,8 @@ public sealed class BSPrim : BSPhysObject | |||
1294 | 1330 | ||
1295 | PositionSanityCheck2(true); | 1331 | PositionSanityCheck2(true); |
1296 | 1332 | ||
1333 | Linkset.UpdateProperties(this); | ||
1334 | |||
1297 | DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", | 1335 | DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", |
1298 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); | 1336 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); |
1299 | 1337 | ||
@@ -1304,7 +1342,7 @@ public sealed class BSPrim : BSPhysObject | |||
1304 | /* | 1342 | /* |
1305 | else | 1343 | else |
1306 | { | 1344 | { |
1307 | // For debugging, we can also report the movement of children | 1345 | // For debugging, report the movement of children |
1308 | 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}", |
1309 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, | 1347 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, |
1310 | entprop.Acceleration, entprop.RotationalVelocity); | 1348 | entprop.Acceleration, entprop.RotationalVelocity); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index aaed7de..2c3c481 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -39,7 +39,6 @@ using log4net; | |||
39 | using OpenMetaverse; | 39 | using OpenMetaverse; |
40 | 40 | ||
41 | // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) | 41 | // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) |
42 | // Move all logic out of the C++ code and into the C# code for easier future modifications. | ||
43 | // Test sculpties (verified that they don't work) | 42 | // Test sculpties (verified that they don't work) |
44 | // Compute physics FPS reasonably | 43 | // Compute physics FPS reasonably |
45 | // Based on material, set density and friction | 44 | // Based on material, set density and friction |
@@ -90,10 +89,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
90 | // let my minuions use my logger | 89 | // let my minuions use my logger |
91 | public ILog Logger { get { return m_log; } } | 90 | public ILog Logger { get { return m_log; } } |
92 | 91 | ||
93 | // If non-zero, the number of simulation steps between calls to the physics | ||
94 | // engine to output detailed physics stats. Debug logging level must be on also. | ||
95 | private int m_detailedStatsStep = 0; | ||
96 | |||
97 | public IMesher mesher; | 92 | public IMesher mesher; |
98 | // Level of Detail values kept as float because that's what the Meshmerizer wants | 93 | // Level of Detail values kept as float because that's what the Meshmerizer wants |
99 | public float MeshLOD { get; private set; } | 94 | public float MeshLOD { get; private set; } |
@@ -112,6 +107,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
112 | private float m_fixedTimeStep; | 107 | private float m_fixedTimeStep; |
113 | private long m_simulationStep = 0; | 108 | private long m_simulationStep = 0; |
114 | public long SimulationStep { get { return m_simulationStep; } } | 109 | public long SimulationStep { get { return m_simulationStep; } } |
110 | private int m_taintsToProcessPerStep; | ||
115 | 111 | ||
116 | // 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 |
117 | // 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 |
@@ -131,6 +127,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
131 | 127 | ||
132 | public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed | 128 | public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed |
133 | public bool ShouldForceSimplePrimMeshing { get; private set; } // 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 | ||
134 | 131 | ||
135 | public float PID_D { get; private set; } // derivative | 132 | public float PID_D { get; private set; } // derivative |
136 | public float PID_P { get; private set; } // proportional | 133 | public float PID_P { get; private set; } // proportional |
@@ -254,7 +251,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
254 | 251 | ||
255 | // The bounding box for the simulated world. The origin is 0,0,0 unless we're | 252 | // The bounding box for the simulated world. The origin is 0,0,0 unless we're |
256 | // a child in a mega-region. | 253 | // a child in a mega-region. |
257 | // Turns out that Bullet really doesn't care about the extents of the simulated | 254 | // Bullet actually doesn't care about the extents of the simulated |
258 | // area. It tracks active objects no matter where they are. | 255 | // area. It tracks active objects no matter where they are. |
259 | Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); | 256 | Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); |
260 | 257 | ||
@@ -331,7 +328,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
331 | // Called directly from unmanaged code so don't do much | 328 | // Called directly from unmanaged code so don't do much |
332 | private void BulletLoggerPhysLog(string msg) | 329 | private void BulletLoggerPhysLog(string msg) |
333 | { | 330 | { |
334 | PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg); | 331 | DetailLog("[BULLETS UNMANAGED]:" + msg); |
335 | } | 332 | } |
336 | 333 | ||
337 | public override void Dispose() | 334 | public override void Dispose() |
@@ -494,8 +491,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
494 | m_simulationStep++; | 491 | m_simulationStep++; |
495 | int numSubSteps = 0; | 492 | int numSubSteps = 0; |
496 | 493 | ||
497 | // Sometimes needed for debugging to find out what happened before the step | 494 | // DEBUG |
498 | // PhysicsLogging.Flush(); | 495 | // DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep); |
499 | 496 | ||
500 | try | 497 | try |
501 | { | 498 | { |
@@ -505,8 +502,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
505 | out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); | 502 | out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); |
506 | 503 | ||
507 | if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); | 504 | if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); |
508 | DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}", | 505 | DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", |
509 | DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); | 506 | DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); |
510 | } | 507 | } |
511 | catch (Exception e) | 508 | catch (Exception e) |
512 | { | 509 | { |
@@ -582,19 +579,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
582 | } | 579 | } |
583 | } | 580 | } |
584 | 581 | ||
585 | // If enabled, call into the physics engine to dump statistics | ||
586 | if (m_detailedStatsStep > 0) | ||
587 | { | ||
588 | if ((m_simulationStep % m_detailedStatsStep) == 0) | ||
589 | { | ||
590 | BulletSimAPI.DumpBulletStatistics(); | ||
591 | } | ||
592 | } | ||
593 | |||
594 | // The physics engine returns the number of milliseconds it simulated this call. | 582 | // The physics engine returns the number of milliseconds it simulated this call. |
595 | // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. | 583 | // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. |
596 | // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS. | 584 | // We multiply by 45 to give a recognizable running rate (45 or less). |
597 | return numSubSteps * m_fixedTimeStep * 1000; | 585 | return numSubSteps * m_fixedTimeStep * 1000 * 45; |
586 | // return timeStep * 1000 * 45; | ||
598 | } | 587 | } |
599 | 588 | ||
600 | // Something has collided | 589 | // Something has collided |
@@ -617,7 +606,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
617 | BSPhysObject collidee = null; | 606 | BSPhysObject collidee = null; |
618 | PhysObjects.TryGetValue(collidingWith, out collidee); | 607 | PhysObjects.TryGetValue(collidingWith, out collidee); |
619 | 608 | ||
620 | DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); | 609 | // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); |
621 | 610 | ||
622 | if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) | 611 | if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) |
623 | { | 612 | { |
@@ -704,6 +693,35 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
704 | 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 |
705 | { | 694 | { |
706 | // 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 | ||
707 | List<TaintCallbackEntry> oldList; | 725 | List<TaintCallbackEntry> oldList; |
708 | lock (_taintLock) | 726 | lock (_taintLock) |
709 | { | 727 | { |
@@ -715,6 +733,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
715 | { | 733 | { |
716 | try | 734 | try |
717 | { | 735 | { |
736 | DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG | ||
718 | tcbe.callback(); | 737 | tcbe.callback(); |
719 | } | 738 | } |
720 | catch (Exception e) | 739 | catch (Exception e) |
@@ -723,6 +742,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
723 | } | 742 | } |
724 | } | 743 | } |
725 | oldList.Clear(); | 744 | oldList.Clear(); |
745 | */ | ||
726 | } | 746 | } |
727 | } | 747 | } |
728 | 748 | ||
@@ -834,6 +854,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
834 | (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, | 854 | (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, |
835 | (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); }, | 855 | (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); }, |
836 | (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = 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); } ), | ||
837 | 862 | ||
838 | new ParameterDefn("MeshLevelOfDetail", "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)", |
839 | 8f, | 864 | 8f, |
@@ -876,6 +901,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
876 | (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); }, |
877 | (s) => { return (float)s.m_maxUpdatesPerFrame; }, | 902 | (s) => { return (float)s.m_maxUpdatesPerFrame; }, |
878 | (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; } ), | ||
879 | new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", | 909 | new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", |
880 | 10000.01f, | 910 | 10000.01f, |
881 | (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); }, | 911 | (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); }, |
@@ -1070,12 +1100,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1070 | (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, | 1100 | (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, |
1071 | (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), | 1101 | (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), |
1072 | new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", | 1102 | new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", |
1073 | 0.1f, | 1103 | 0.001f, |
1074 | (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); }, |
1075 | (s) => { return s.m_params[0].linkConstraintCFM; }, | 1105 | (s) => { return s.m_params[0].linkConstraintCFM; }, |
1076 | (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), | 1106 | (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), |
1077 | 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", |
1078 | 0.2f, | 1108 | 0.8f, |
1079 | (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); }, |
1080 | (s) => { return s.m_params[0].linkConstraintERP; }, | 1110 | (s) => { return s.m_params[0].linkConstraintERP; }, |
1081 | (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), | 1111 | (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), |
@@ -1085,11 +1115,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1085 | (s) => { return s.m_params[0].linkConstraintSolverIterations; }, | 1115 | (s) => { return s.m_params[0].linkConstraintSolverIterations; }, |
1086 | (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ), | 1116 | (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ), |
1087 | 1117 | ||
1088 | 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)", |
1089 | 0f, | 1119 | 0f, |
1090 | (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); }, |
1091 | (s) => { return (float)s.m_detailedStatsStep; }, | 1121 | (s) => { return (float)s.m_params[0].physicsLoggingFrames; }, |
1092 | (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), | 1122 | (s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ), |
1093 | }; | 1123 | }; |
1094 | 1124 | ||
1095 | // Convert a boolean to our numeric true and false values | 1125 | // Convert a boolean to our numeric true and false values |
@@ -1270,6 +1300,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1270 | public void DetailLog(string msg, params Object[] args) | 1300 | public void DetailLog(string msg, params Object[] args) |
1271 | { | 1301 | { |
1272 | 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(); | ||
1273 | } | 1305 | } |
1274 | // used to fill in the LocalID when there isn't one | 1306 | // used to fill in the LocalID when there isn't one |
1275 | 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 index 399a133..d189f1d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | |||
@@ -67,8 +67,8 @@ public class BSShapeCollection : IDisposable | |||
67 | public DateTime lastReferenced; | 67 | public DateTime lastReferenced; |
68 | } | 68 | } |
69 | 69 | ||
70 | private Dictionary<ulong, MeshDesc> Meshes = new Dictionary<ulong, MeshDesc>(); | 70 | private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>(); |
71 | private Dictionary<ulong, HullDesc> Hulls = new Dictionary<ulong, HullDesc>(); | 71 | private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>(); |
72 | private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>(); | 72 | private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>(); |
73 | 73 | ||
74 | public BSShapeCollection(BSScene physScene) | 74 | public BSShapeCollection(BSScene physScene) |
@@ -121,7 +121,7 @@ public class BSShapeCollection : IDisposable | |||
121 | // Track another user of a body | 121 | // Track another user of a body |
122 | // We presume the caller has allocated the 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. | 123 | // Bodies only have one user so the reference count is either 1 or 0. |
124 | public void ReferenceBody(BulletBody body, bool atTaintTime) | 124 | public void ReferenceBody(BulletBody body, bool inTaintTime) |
125 | { | 125 | { |
126 | lock (m_collectionActivityLock) | 126 | lock (m_collectionActivityLock) |
127 | { | 127 | { |
@@ -136,7 +136,21 @@ public class BSShapeCollection : IDisposable | |||
136 | // New entry | 136 | // New entry |
137 | bodyDesc.ptr = body.ptr; | 137 | bodyDesc.ptr = body.ptr; |
138 | bodyDesc.referenceCount = 1; | 138 | bodyDesc.referenceCount = 1; |
139 | DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", body.ID, body, bodyDesc.referenceCount); | 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); | ||
140 | } | 154 | } |
141 | bodyDesc.lastReferenced = System.DateTime.Now; | 155 | bodyDesc.lastReferenced = System.DateTime.Now; |
142 | Bodies[body.ID] = bodyDesc; | 156 | Bodies[body.ID] = bodyDesc; |
@@ -160,21 +174,22 @@ public class BSShapeCollection : IDisposable | |||
160 | Bodies[body.ID] = bodyDesc; | 174 | Bodies[body.ID] = bodyDesc; |
161 | DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount); | 175 | DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount); |
162 | 176 | ||
163 | // If body is no longer being used, free it -- bodies are never shared. | 177 | // If body is no longer being used, free it -- bodies can never be shared. |
164 | if (bodyDesc.referenceCount == 0) | 178 | if (bodyDesc.referenceCount == 0) |
165 | { | 179 | { |
166 | Bodies.Remove(body.ID); | 180 | Bodies.Remove(body.ID); |
167 | BSScene.TaintCallback removeOperation = delegate() | 181 | BSScene.TaintCallback removeOperation = delegate() |
168 | { | 182 | { |
169 | DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}", | 183 | DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}", |
170 | body.ID, body.ptr.ToString("X")); | 184 | body.ID, body.ptr.ToString("X"), inTaintTime); |
171 | // If the caller needs to know the old body is going away, pass the event up. | 185 | // If the caller needs to know the old body is going away, pass the event up. |
172 | if (bodyCallback != null) bodyCallback(body); | 186 | if (bodyCallback != null) bodyCallback(body); |
173 | 187 | ||
174 | // Zero any reference to the shape so it is not freed when the body is deleted. | ||
175 | BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); | ||
176 | // It may have already been removed from the world in which case the next is a NOOP. | 188 | // It may have already been removed from the world in which case the next is a NOOP. |
177 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); | 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); | ||
178 | BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); | 193 | BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); |
179 | }; | 194 | }; |
180 | // If already in taint-time, do the operations now. Otherwise queue for later. | 195 | // If already in taint-time, do the operations now. Otherwise queue for later. |
@@ -208,7 +223,7 @@ public class BSShapeCollection : IDisposable | |||
208 | { | 223 | { |
209 | // There is an existing instance of this mesh. | 224 | // There is an existing instance of this mesh. |
210 | meshDesc.referenceCount++; | 225 | meshDesc.referenceCount++; |
211 | DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}", | 226 | DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}", |
212 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); | 227 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); |
213 | } | 228 | } |
214 | else | 229 | else |
@@ -217,7 +232,7 @@ public class BSShapeCollection : IDisposable | |||
217 | meshDesc.ptr = shape.ptr; | 232 | meshDesc.ptr = shape.ptr; |
218 | // We keep a reference to the underlying IMesh data so a hull can be built | 233 | // We keep a reference to the underlying IMesh data so a hull can be built |
219 | meshDesc.referenceCount = 1; | 234 | meshDesc.referenceCount = 1; |
220 | DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}", | 235 | DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}", |
221 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); | 236 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); |
222 | ret = true; | 237 | ret = true; |
223 | } | 238 | } |
@@ -230,7 +245,7 @@ public class BSShapeCollection : IDisposable | |||
230 | { | 245 | { |
231 | // There is an existing instance of this hull. | 246 | // There is an existing instance of this hull. |
232 | hullDesc.referenceCount++; | 247 | hullDesc.referenceCount++; |
233 | DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}", | 248 | DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}", |
234 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); | 249 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); |
235 | } | 250 | } |
236 | else | 251 | else |
@@ -238,7 +253,7 @@ public class BSShapeCollection : IDisposable | |||
238 | // This is a new reference to a hull | 253 | // This is a new reference to a hull |
239 | hullDesc.ptr = shape.ptr; | 254 | hullDesc.ptr = shape.ptr; |
240 | hullDesc.referenceCount = 1; | 255 | hullDesc.referenceCount = 1; |
241 | DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}", | 256 | DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", |
242 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); | 257 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); |
243 | ret = true; | 258 | ret = true; |
244 | 259 | ||
@@ -257,7 +272,7 @@ public class BSShapeCollection : IDisposable | |||
257 | 272 | ||
258 | // Release the usage of a shape. | 273 | // Release the usage of a shape. |
259 | // The collisionObject is released since it is a copy of the real collision shape. | 274 | // The collisionObject is released since it is a copy of the real collision shape. |
260 | public void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback) | 275 | public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) |
261 | { | 276 | { |
262 | if (shape.ptr == IntPtr.Zero) | 277 | if (shape.ptr == IntPtr.Zero) |
263 | return; | 278 | return; |
@@ -279,14 +294,14 @@ public class BSShapeCollection : IDisposable | |||
279 | if (shape.ptr != IntPtr.Zero & shape.isNativeShape) | 294 | if (shape.ptr != IntPtr.Zero & shape.isNativeShape) |
280 | { | 295 | { |
281 | DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", | 296 | DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", |
282 | BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime); | 297 | BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); |
283 | if (shapeCallback != null) shapeCallback(shape); | 298 | if (shapeCallback != null) shapeCallback(shape); |
284 | BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); | 299 | BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); |
285 | } | 300 | } |
286 | break; | 301 | break; |
287 | } | 302 | } |
288 | }; | 303 | }; |
289 | if (atTaintTime) | 304 | if (inTaintTime) |
290 | { | 305 | { |
291 | lock (m_collectionActivityLock) | 306 | lock (m_collectionActivityLock) |
292 | { | 307 | { |
@@ -358,7 +373,8 @@ public class BSShapeCollection : IDisposable | |||
358 | && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 | 373 | && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 |
359 | && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) | 374 | && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) |
360 | { | 375 | { |
361 | if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) | 376 | if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) |
377 | && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z) | ||
362 | { | 378 | { |
363 | haveShape = true; | 379 | haveShape = true; |
364 | if (forceRebuild | 380 | if (forceRebuild |
@@ -372,7 +388,7 @@ public class BSShapeCollection : IDisposable | |||
372 | prim.LocalID, forceRebuild, prim.BSShape); | 388 | prim.LocalID, forceRebuild, prim.BSShape); |
373 | } | 389 | } |
374 | } | 390 | } |
375 | else | 391 | if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) |
376 | { | 392 | { |
377 | haveShape = true; | 393 | haveShape = true; |
378 | if (forceRebuild | 394 | if (forceRebuild |
@@ -392,7 +408,7 @@ public class BSShapeCollection : IDisposable | |||
392 | // made. Native shapes are best used in either case. | 408 | // made. Native shapes are best used in either case. |
393 | if (!haveShape) | 409 | if (!haveShape) |
394 | { | 410 | { |
395 | if (prim.IsPhysical) | 411 | if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) |
396 | { | 412 | { |
397 | // Update prim.BSShape to reference a hull of this shape. | 413 | // Update prim.BSShape to reference a hull of this shape. |
398 | ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback); | 414 | ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback); |
@@ -426,7 +442,7 @@ public class BSShapeCollection : IDisposable | |||
426 | 442 | ||
427 | // Native shapes are always built independently. | 443 | // Native shapes are always built independently. |
428 | newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); | 444 | newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); |
429 | newShape.shapeKey = (ulong)shapeKey; | 445 | newShape.shapeKey = (System.UInt64)shapeKey; |
430 | newShape.isNativeShape = true; | 446 | newShape.isNativeShape = true; |
431 | 447 | ||
432 | // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. | 448 | // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. |
@@ -446,7 +462,7 @@ public class BSShapeCollection : IDisposable | |||
446 | BulletShape newShape = new BulletShape(IntPtr.Zero); | 462 | BulletShape newShape = new BulletShape(IntPtr.Zero); |
447 | 463 | ||
448 | float lod; | 464 | float lod; |
449 | ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); | 465 | System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); |
450 | 466 | ||
451 | // if this new shape is the same as last time, don't recreate the mesh | 467 | // if this new shape is the same as last time, don't recreate the mesh |
452 | if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH) | 468 | if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH) |
@@ -469,7 +485,7 @@ public class BSShapeCollection : IDisposable | |||
469 | return true; // 'true' means a new shape has been added to this prim | 485 | return true; // 'true' means a new shape has been added to this prim |
470 | } | 486 | } |
471 | 487 | ||
472 | private BulletShape CreatePhysicalMesh(string objName, ulong newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) | 488 | private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) |
473 | { | 489 | { |
474 | IMesh meshData = null; | 490 | IMesh meshData = null; |
475 | IntPtr meshPtr; | 491 | IntPtr meshPtr; |
@@ -516,7 +532,7 @@ public class BSShapeCollection : IDisposable | |||
516 | BulletShape newShape; | 532 | BulletShape newShape; |
517 | 533 | ||
518 | float lod; | 534 | float lod; |
519 | ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod); | 535 | System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod); |
520 | 536 | ||
521 | // if the hull hasn't changed, don't rebuild it | 537 | // if the hull hasn't changed, don't rebuild it |
522 | if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) | 538 | if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) |
@@ -525,7 +541,7 @@ public class BSShapeCollection : IDisposable | |||
525 | DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", | 541 | DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", |
526 | prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); | 542 | prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); |
527 | 543 | ||
528 | // Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull. | 544 | // Remove usage of the previous shape. |
529 | DereferenceShape(prim.BSShape, true, shapeCallback); | 545 | DereferenceShape(prim.BSShape, true, shapeCallback); |
530 | 546 | ||
531 | newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); | 547 | newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); |
@@ -539,7 +555,7 @@ public class BSShapeCollection : IDisposable | |||
539 | } | 555 | } |
540 | 556 | ||
541 | List<ConvexResult> m_hulls; | 557 | List<ConvexResult> m_hulls; |
542 | private BulletShape CreatePhysicalHull(string objName, ulong newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) | 558 | private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) |
543 | { | 559 | { |
544 | 560 | ||
545 | IntPtr hullPtr; | 561 | IntPtr hullPtr; |
@@ -652,22 +668,23 @@ public class BSShapeCollection : IDisposable | |||
652 | 668 | ||
653 | // Create a hash of all the shape parameters to be used as a key | 669 | // Create a hash of all the shape parameters to be used as a key |
654 | // for this particular shape. | 670 | // for this particular shape. |
655 | private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod) | 671 | private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod) |
656 | { | 672 | { |
657 | // level of detail based on size and type of the object | 673 | // level of detail based on size and type of the object |
658 | float lod = PhysicsScene.MeshLOD; | 674 | float lod = PhysicsScene.MeshLOD; |
659 | if (pbs.SculptEntry) | 675 | if (pbs.SculptEntry) |
660 | lod = PhysicsScene.SculptLOD; | 676 | lod = PhysicsScene.SculptLOD; |
661 | 677 | ||
678 | // Mega prims usually get more detail because one can interact with shape approximations at this size. | ||
662 | float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z)); | 679 | float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z)); |
663 | if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) | 680 | if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) |
664 | lod = PhysicsScene.MeshMegaPrimLOD; | 681 | lod = PhysicsScene.MeshMegaPrimLOD; |
665 | 682 | ||
666 | retLod = lod; | 683 | retLod = lod; |
667 | return (ulong)pbs.GetMeshKey(shapeData.Size, lod); | 684 | return pbs.GetMeshKey(shapeData.Size, lod); |
668 | } | 685 | } |
669 | // For those who don't want the LOD | 686 | // For those who don't want the LOD |
670 | private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs) | 687 | private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs) |
671 | { | 688 | { |
672 | float lod; | 689 | float lod; |
673 | return ComputeShapeKey(shapeData, pbs, out lod); | 690 | return ComputeShapeKey(shapeData, pbs, out lod); |
@@ -701,6 +718,7 @@ public class BSShapeCollection : IDisposable | |||
701 | 718 | ||
702 | if (mustRebuild || forceRebuild) | 719 | if (mustRebuild || forceRebuild) |
703 | { | 720 | { |
721 | // Free any old body | ||
704 | DereferenceBody(prim.BSBody, true, bodyCallback); | 722 | DereferenceBody(prim.BSBody, true, bodyCallback); |
705 | 723 | ||
706 | BulletBody aBody; | 724 | BulletBody aBody; |
@@ -709,13 +727,13 @@ public class BSShapeCollection : IDisposable | |||
709 | { | 727 | { |
710 | bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, | 728 | bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, |
711 | shapeData.ID, shapeData.Position, shapeData.Rotation); | 729 | shapeData.ID, shapeData.Position, shapeData.Rotation); |
712 | // DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); | 730 | DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); |
713 | } | 731 | } |
714 | else | 732 | else |
715 | { | 733 | { |
716 | bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, | 734 | bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, |
717 | shapeData.ID, shapeData.Position, shapeData.Rotation); | 735 | shapeData.ID, shapeData.Position, shapeData.Rotation); |
718 | // DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); | 736 | DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); |
719 | } | 737 | } |
720 | aBody = new BulletBody(shapeData.ID, bodyPtr); | 738 | aBody = new BulletBody(shapeData.ID, bodyPtr); |
721 | 739 | ||
@@ -731,7 +749,8 @@ public class BSShapeCollection : IDisposable | |||
731 | 749 | ||
732 | private void DetailLog(string msg, params Object[] args) | 750 | private void DetailLog(string msg, params Object[] args) |
733 | { | 751 | { |
734 | PhysicsScene.PhysicsLogging.Write(msg, args); | 752 | if (PhysicsScene.PhysicsLogging.Enabled) |
753 | PhysicsScene.DetailLog(msg, args); | ||
735 | } | 754 | } |
736 | } | 755 | } |
737 | } | 756 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 70aa429..caf411e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | |||
@@ -114,6 +114,8 @@ public class BSTerrainManager | |||
114 | BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, | 114 | BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, |
115 | Vector3.Zero, Quaternion.Identity)); | 115 | Vector3.Zero, Quaternion.Identity)); |
116 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); | 116 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); |
117 | // Ground plane does not move | ||
118 | BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); | ||
117 | // Everything collides with the ground plane. | 119 | // Everything collides with the ground plane. |
118 | BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr, | 120 | BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr, |
119 | (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); | 121 | (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); |
@@ -201,10 +203,10 @@ public class BSTerrainManager | |||
201 | // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when | 203 | // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when |
202 | // calling this routine from initialization or taint-time routines) or whether to delay | 204 | // calling this routine from initialization or taint-time routines) or whether to delay |
203 | // all the unmanaged activities to taint-time. | 205 | // all the unmanaged activities to taint-time. |
204 | private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime) | 206 | private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) |
205 | { | 207 | { |
206 | DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}", | 208 | DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}", |
207 | BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime); | 209 | BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime); |
208 | 210 | ||
209 | float minZ = float.MaxValue; | 211 | float minZ = float.MaxValue; |
210 | float maxZ = float.MinValue; | 212 | float maxZ = float.MinValue; |
@@ -296,16 +298,16 @@ public class BSTerrainManager | |||
296 | mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID, | 298 | mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID, |
297 | mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); | 299 | mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); |
298 | 300 | ||
301 | // Create the terrain shape from the mapInfo | ||
302 | mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), | ||
303 | ShapeData.PhysicsShapeType.SHAPE_TERRAIN); | ||
304 | |||
299 | // The terrain object initial position is at the center of the object | 305 | // The terrain object initial position is at the center of the object |
300 | Vector3 centerPos; | 306 | Vector3 centerPos; |
301 | centerPos.X = minCoords.X + (mapInfo.sizeX / 2f); | 307 | centerPos.X = minCoords.X + (mapInfo.sizeX / 2f); |
302 | centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f); | 308 | centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f); |
303 | centerPos.Z = minZ + ((maxZ - minZ) / 2f); | 309 | centerPos.Z = minZ + ((maxZ - minZ) / 2f); |
304 | 310 | ||
305 | // Create the terrain shape from the mapInfo | ||
306 | mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), | ||
307 | ShapeData.PhysicsShapeType.SHAPE_TERRAIN); | ||
308 | |||
309 | mapInfo.terrainBody = new BulletBody(mapInfo.ID, | 311 | mapInfo.terrainBody = new BulletBody(mapInfo.ID, |
310 | BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, | 312 | BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, |
311 | id, centerPos, Quaternion.Identity)); | 313 | id, centerPos, Quaternion.Identity)); |
@@ -320,9 +322,6 @@ public class BSTerrainManager | |||
320 | BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); | 322 | BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); |
321 | BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | 323 | BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); |
322 | 324 | ||
323 | BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, 0f, Vector3.Zero); | ||
324 | BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr); | ||
325 | |||
326 | // Return the new terrain to the world of physical objects | 325 | // Return the new terrain to the world of physical objects |
327 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); | 326 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); |
328 | 327 | ||
@@ -342,7 +341,7 @@ public class BSTerrainManager | |||
342 | 341 | ||
343 | // There is the option to do the changes now (we're already in 'taint time'), or | 342 | // There is the option to do the changes now (we're already in 'taint time'), or |
344 | // to do the Bullet operations later. | 343 | // to do the Bullet operations later. |
345 | if (atTaintTime) | 344 | if (inTaintTime) |
346 | rebuildOperation(); | 345 | rebuildOperation(); |
347 | else | 346 | else |
348 | PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation); | 347 | PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation); |
@@ -381,7 +380,7 @@ public class BSTerrainManager | |||
381 | }; | 380 | }; |
382 | 381 | ||
383 | // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time. | 382 | // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time. |
384 | if (atTaintTime) | 383 | if (inTaintTime) |
385 | createOperation(); | 384 | createOperation(); |
386 | else | 385 | else |
387 | PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation); | 386 | PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index a43880d..276111c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -101,9 +101,8 @@ public struct BulletShape | |||
101 | } | 101 | } |
102 | public IntPtr ptr; | 102 | public IntPtr ptr; |
103 | public ShapeData.PhysicsShapeType type; | 103 | public ShapeData.PhysicsShapeType type; |
104 | public ulong shapeKey; | 104 | public System.UInt64 shapeKey; |
105 | public bool isNativeShape; | 105 | public bool isNativeShape; |
106 | // Hulls have an underlying mesh. A pointer to it is hidden here. | ||
107 | public override string ToString() | 106 | public override string ToString() |
108 | { | 107 | { |
109 | StringBuilder buff = new StringBuilder(); | 108 | StringBuilder buff = new StringBuilder(); |
@@ -192,8 +191,9 @@ public struct ShapeData | |||
192 | SHAPE_SPHERE = 5, | 191 | SHAPE_SPHERE = 5, |
193 | SHAPE_MESH = 6, | 192 | SHAPE_MESH = 6, |
194 | SHAPE_HULL = 7, | 193 | SHAPE_HULL = 7, |
195 | SHAPE_GROUNDPLANE = 8, | 194 | // following defined by BulletSim |
196 | SHAPE_TERRAIN = 9, | 195 | SHAPE_GROUNDPLANE = 20, |
196 | SHAPE_TERRAIN = 21, | ||
197 | }; | 197 | }; |
198 | public uint ID; | 198 | public uint ID; |
199 | public PhysicsShapeType Type; | 199 | public PhysicsShapeType Type; |
@@ -305,6 +305,8 @@ public struct ConfigurationParameters | |||
305 | public float linkConstraintCFM; | 305 | public float linkConstraintCFM; |
306 | public float linkConstraintSolverIterations; | 306 | public float linkConstraintSolverIterations; |
307 | 307 | ||
308 | public float physicsLoggingFrames; | ||
309 | |||
308 | public const float numericTrue = 1f; | 310 | public const float numericTrue = 1f; |
309 | public const float numericFalse = 0f; | 311 | public const float numericFalse = 0f; |
310 | } | 312 | } |
@@ -1037,18 +1039,6 @@ public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); | |||
1037 | public static extern int GetNumConstraintRefs2(IntPtr obj); | 1039 | public static extern int GetNumConstraintRefs2(IntPtr obj); |
1038 | 1040 | ||
1039 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1041 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
1040 | public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj); | ||
1041 | |||
1042 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1043 | public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj); | ||
1044 | |||
1045 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1046 | public static extern Vector3 GetPushVelocity2(IntPtr obj); | ||
1047 | |||
1048 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1049 | public static extern Vector3 GetTurnVelocity2(IntPtr obj); | ||
1050 | |||
1051 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1052 | public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask); | 1042 | public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask); |
1053 | 1043 | ||
1054 | // ===================================================================================== | 1044 | // ===================================================================================== |
@@ -1108,6 +1098,15 @@ public static extern float GetMargin2(IntPtr shape); | |||
1108 | public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); | 1098 | public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); |
1109 | 1099 | ||
1110 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1100 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
1101 | public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); | ||
1102 | |||
1103 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1104 | public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); | ||
1105 | |||
1106 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1107 | public static extern void DumpAllInfo2(IntPtr sim); | ||
1108 | |||
1109 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1111 | public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); | 1110 | public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); |
1112 | 1111 | ||
1113 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1112 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index f3b0630..c736557 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | |||
@@ -100,7 +100,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
100 | private bool m_hackSentFly = false; | 100 | private bool m_hackSentFly = false; |
101 | private int m_requestedUpdateFrequency = 0; | 101 | private int m_requestedUpdateFrequency = 0; |
102 | private Vector3 m_taintPosition; | 102 | private Vector3 m_taintPosition; |
103 | 103 | internal bool m_avatarplanted = false; | |
104 | /// <summary> | 104 | /// <summary> |
105 | /// Hold set forces so we can process them outside physics calculations. This prevents race conditions if we set force | 105 | /// Hold set forces so we can process them outside physics calculations. This prevents race conditions if we set force |
106 | /// while calculatios are going on | 106 | /// while calculatios are going on |
@@ -413,7 +413,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
413 | set | 413 | set |
414 | { | 414 | { |
415 | m_iscollidingObj = value; | 415 | m_iscollidingObj = value; |
416 | if (value) | 416 | if (value && !m_avatarplanted) |
417 | m_pidControllerActive = false; | 417 | m_pidControllerActive = false; |
418 | else | 418 | else |
419 | m_pidControllerActive = true; | 419 | m_pidControllerActive = true; |
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs index 7a50c4c..cbe21e2 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs | |||
@@ -501,6 +501,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
501 | public int physics_logging_interval = 0; | 501 | public int physics_logging_interval = 0; |
502 | public bool physics_logging_append_existing_logfile = false; | 502 | public bool physics_logging_append_existing_logfile = false; |
503 | 503 | ||
504 | private bool avplanted = false; | ||
505 | private bool av_av_collisions_off = false; | ||
504 | 506 | ||
505 | public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f); | 507 | public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f); |
506 | public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f); | 508 | public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f); |
@@ -644,6 +646,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
644 | avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f); | 646 | avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f); |
645 | avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f); | 647 | avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f); |
646 | avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f); | 648 | avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f); |
649 | avplanted = physicsconfig.GetBoolean("av_planted", false); | ||
650 | av_av_collisions_off = physicsconfig.GetBoolean("av_av_collisions_off", false); | ||
651 | |||
647 | IsAvCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false); | 652 | IsAvCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false); |
648 | 653 | ||
649 | contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80); | 654 | contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80); |
@@ -663,6 +668,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
663 | meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f); | 668 | meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f); |
664 | MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f); | 669 | MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f); |
665 | m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false); | 670 | m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false); |
671 | |||
672 | |||
666 | 673 | ||
667 | if (Environment.OSVersion.Platform == PlatformID.Unix) | 674 | if (Environment.OSVersion.Platform == PlatformID.Unix) |
668 | { | 675 | { |
@@ -1309,6 +1316,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1309 | if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect)) | 1316 | if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect)) |
1310 | skipThisContact = true; // No collision on volume detect prims | 1317 | skipThisContact = true; // No collision on volume detect prims |
1311 | 1318 | ||
1319 | if (av_av_collisions_off) | ||
1320 | if ((p1 is OdeCharacter) && (p2 is OdeCharacter)) | ||
1321 | skipThisContact = true; | ||
1322 | |||
1312 | if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect)) | 1323 | if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect)) |
1313 | skipThisContact = true; // No collision on volume detect prims | 1324 | skipThisContact = true; // No collision on volume detect prims |
1314 | 1325 | ||
@@ -1972,7 +1983,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1972 | 1983 | ||
1973 | newAv.Flying = isFlying; | 1984 | newAv.Flying = isFlying; |
1974 | newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset; | 1985 | newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset; |
1975 | 1986 | newAv.m_avatarplanted = avplanted; | |
1987 | |||
1976 | return newAv; | 1988 | return newAv; |
1977 | } | 1989 | } |
1978 | 1990 | ||
@@ -1987,6 +1999,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1987 | 1999 | ||
1988 | internal void AddCharacter(OdeCharacter chr) | 2000 | internal void AddCharacter(OdeCharacter chr) |
1989 | { | 2001 | { |
2002 | chr.m_avatarplanted = avplanted; | ||
1990 | if (!_characters.Contains(chr)) | 2003 | if (!_characters.Contains(chr)) |
1991 | { | 2004 | { |
1992 | _characters.Add(chr); | 2005 | _characters.Add(chr); |