diff options
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 44 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 45 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 30 |
3 files changed, 83 insertions, 36 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 09e1f0c..494f5a6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
@@ -40,6 +40,7 @@ public class BSCharacter : PhysicsActor | |||
40 | private static readonly string LogHeader = "[BULLETS CHAR]"; | 40 | private static readonly string LogHeader = "[BULLETS CHAR]"; |
41 | 41 | ||
42 | private BSScene _scene; | 42 | private BSScene _scene; |
43 | public BSScene Scene { get { return _scene; } } | ||
43 | private String _avName; | 44 | private String _avName; |
44 | // private bool _stopped; | 45 | // private bool _stopped; |
45 | private Vector3 _size; | 46 | private Vector3 _size; |
@@ -73,6 +74,12 @@ public class BSCharacter : PhysicsActor | |||
73 | private bool _kinematic; | 74 | private bool _kinematic; |
74 | private float _buoyancy; | 75 | private float _buoyancy; |
75 | 76 | ||
77 | private BulletBody m_body; | ||
78 | public BulletBody Body { | ||
79 | get { return m_body; } | ||
80 | set { m_body = value; } | ||
81 | } | ||
82 | |||
76 | private int _subscribedEventsMs = 0; | 83 | private int _subscribedEventsMs = 0; |
77 | private int _nextCollisionOkTime = 0; | 84 | private int _nextCollisionOkTime = 0; |
78 | 85 | ||
@@ -116,6 +123,10 @@ public class BSCharacter : PhysicsActor | |||
116 | _scene.TaintedObject(delegate() | 123 | _scene.TaintedObject(delegate() |
117 | { | 124 | { |
118 | BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); | 125 | BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); |
126 | |||
127 | m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); | ||
128 | // avatars get all collisions no matter what | ||
129 | BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
119 | }); | 130 | }); |
120 | 131 | ||
121 | return; | 132 | return; |
@@ -124,6 +135,7 @@ public class BSCharacter : PhysicsActor | |||
124 | // called when this character is being destroyed and the resources should be released | 135 | // called when this character is being destroyed and the resources should be released |
125 | public void Destroy() | 136 | public void Destroy() |
126 | { | 137 | { |
138 | // DetailLog("{0},Destroy", LocalID); | ||
127 | _scene.TaintedObject(delegate() | 139 | _scene.TaintedObject(delegate() |
128 | { | 140 | { |
129 | BulletSimAPI.DestroyObject(_scene.WorldID, _localID); | 141 | BulletSimAPI.DestroyObject(_scene.WorldID, _localID); |
@@ -174,6 +186,7 @@ public class BSCharacter : PhysicsActor | |||
174 | _position = value; | 186 | _position = value; |
175 | _scene.TaintedObject(delegate() | 187 | _scene.TaintedObject(delegate() |
176 | { | 188 | { |
189 | DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | ||
177 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); | 190 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); |
178 | }); | 191 | }); |
179 | } | 192 | } |
@@ -188,9 +201,10 @@ public class BSCharacter : PhysicsActor | |||
188 | set { | 201 | set { |
189 | _force = value; | 202 | _force = value; |
190 | // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); | 203 | // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); |
191 | _scene.TaintedObject(delegate() | 204 | Scene.TaintedObject(delegate() |
192 | { | 205 | { |
193 | BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); | 206 | DetailLog("{0},setForce,taint,force={1}", LocalID, _force); |
207 | BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force); | ||
194 | }); | 208 | }); |
195 | } | 209 | } |
196 | } | 210 | } |
@@ -216,6 +230,7 @@ public class BSCharacter : PhysicsActor | |||
216 | // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); | 230 | // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); |
217 | _scene.TaintedObject(delegate() | 231 | _scene.TaintedObject(delegate() |
218 | { | 232 | { |
233 | DetailLog("{0},setVelocity,taint,vel={1}", LocalID, _velocity); | ||
219 | BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); | 234 | BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); |
220 | }); | 235 | }); |
221 | } | 236 | } |
@@ -305,6 +320,7 @@ public class BSCharacter : PhysicsActor | |||
305 | set { _buoyancy = value; | 320 | set { _buoyancy = value; |
306 | _scene.TaintedObject(delegate() | 321 | _scene.TaintedObject(delegate() |
307 | { | 322 | { |
323 | DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); | ||
308 | BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); | 324 | BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); |
309 | }); | 325 | }); |
310 | } | 326 | } |
@@ -351,7 +367,8 @@ public class BSCharacter : PhysicsActor | |||
351 | // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); | 367 | // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); |
352 | _scene.TaintedObject(delegate() | 368 | _scene.TaintedObject(delegate() |
353 | { | 369 | { |
354 | BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); | 370 | DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force); |
371 | BulletSimAPI.AddObjectForce2(Body.Ptr, _force); | ||
355 | }); | 372 | }); |
356 | } | 373 | } |
357 | else | 374 | else |
@@ -369,11 +386,25 @@ public class BSCharacter : PhysicsActor | |||
369 | // Turn on collision events at a rate no faster than one every the given milliseconds | 386 | // Turn on collision events at a rate no faster than one every the given milliseconds |
370 | public override void SubscribeEvents(int ms) { | 387 | public override void SubscribeEvents(int ms) { |
371 | _subscribedEventsMs = ms; | 388 | _subscribedEventsMs = ms; |
372 | _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen | 389 | if (ms > 0) |
390 | { | ||
391 | // make sure first collision happens | ||
392 | _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; | ||
393 | |||
394 | Scene.TaintedObject(delegate() | ||
395 | { | ||
396 | BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
397 | }); | ||
398 | } | ||
373 | } | 399 | } |
374 | // Stop collision events | 400 | // Stop collision events |
375 | public override void UnSubscribeEvents() { | 401 | public override void UnSubscribeEvents() { |
376 | _subscribedEventsMs = 0; | 402 | _subscribedEventsMs = 0; |
403 | // Avatars get all their collision events | ||
404 | // Scene.TaintedObject(delegate() | ||
405 | // { | ||
406 | // BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
407 | // }); | ||
377 | } | 408 | } |
378 | // Return 'true' if someone has subscribed to events | 409 | // Return 'true' if someone has subscribed to events |
379 | public override bool SubscribedEvents() { | 410 | public override bool SubscribedEvents() { |
@@ -480,5 +511,10 @@ public class BSCharacter : PhysicsActor | |||
480 | // End kludge | 511 | // End kludge |
481 | } | 512 | } |
482 | 513 | ||
514 | // Invoke the detailed logger and output something if it's enabled. | ||
515 | private void DetailLog(string msg, params Object[] args) | ||
516 | { | ||
517 | Scene.PhysicsLogging.Write(msg, args); | ||
518 | } | ||
483 | } | 519 | } |
484 | } | 520 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ebfd85b..8e6685b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -187,7 +187,7 @@ public sealed class BSPrim : PhysicsActor | |||
187 | { | 187 | { |
188 | _mass = CalculateMass(); // changing size changes the mass | 188 | _mass = CalculateMass(); // changing size changes the mass |
189 | BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); | 189 | BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); |
190 | DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); | 190 | // DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); |
191 | RecreateGeomAndObject(); | 191 | RecreateGeomAndObject(); |
192 | }); | 192 | }); |
193 | } | 193 | } |
@@ -318,7 +318,7 @@ public sealed class BSPrim : PhysicsActor | |||
318 | _force = value; | 318 | _force = value; |
319 | _scene.TaintedObject(delegate() | 319 | _scene.TaintedObject(delegate() |
320 | { | 320 | { |
321 | DetailLog("{0},SetForce,taint,force={1}", LocalID, _force); | 321 | DetailLog("{0},setForce,taint,force={1}", LocalID, _force); |
322 | // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); | 322 | // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); |
323 | BulletSimAPI.SetObjectForce2(Body.Ptr, _force); | 323 | BulletSimAPI.SetObjectForce2(Body.Ptr, _force); |
324 | }); | 324 | }); |
@@ -443,7 +443,7 @@ public sealed class BSPrim : PhysicsActor | |||
443 | _scene.TaintedObject(delegate() | 443 | _scene.TaintedObject(delegate() |
444 | { | 444 | { |
445 | // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); | 445 | // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); |
446 | DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 446 | DetailLog("{0},setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
447 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); | 447 | BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); |
448 | }); | 448 | }); |
449 | } | 449 | } |
@@ -487,10 +487,8 @@ public sealed class BSPrim : PhysicsActor | |||
487 | // Maybe a VerifyCorrectPhysicalShape() routine? | 487 | // Maybe a VerifyCorrectPhysicalShape() routine? |
488 | // RecreateGeomAndObject(); | 488 | // RecreateGeomAndObject(); |
489 | 489 | ||
490 | float mass = _mass; | 490 | // Bullet wants static objects to have a mass of zero |
491 | // Bullet wants static objects have a mass of zero | 491 | float mass = IsStatic ? 0f : _mass; |
492 | if (IsStatic) | ||
493 | mass = 0f; | ||
494 | 492 | ||
495 | DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass); | 493 | DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass); |
496 | BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); | 494 | BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); |
@@ -607,6 +605,7 @@ public sealed class BSPrim : PhysicsActor | |||
607 | 605 | ||
608 | private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>(); | 606 | private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>(); |
609 | public override void AddForce(OMV.Vector3 force, bool pushforce) { | 607 | public override void AddForce(OMV.Vector3 force, bool pushforce) { |
608 | // for an object, doesn't matter if force is a pushforce or not | ||
610 | if (force.IsFinite()) | 609 | if (force.IsFinite()) |
611 | { | 610 | { |
612 | // _force += force; | 611 | // _force += force; |
@@ -620,21 +619,17 @@ public sealed class BSPrim : PhysicsActor | |||
620 | } | 619 | } |
621 | _scene.TaintedObject(delegate() | 620 | _scene.TaintedObject(delegate() |
622 | { | 621 | { |
622 | OMV.Vector3 fSum = OMV.Vector3.Zero; | ||
623 | lock (m_accumulatedForces) | 623 | lock (m_accumulatedForces) |
624 | { | 624 | { |
625 | if (m_accumulatedForces.Count > 0) | 625 | foreach (OMV.Vector3 v in m_accumulatedForces) |
626 | { | 626 | { |
627 | OMV.Vector3 fSum = OMV.Vector3.Zero; | 627 | fSum += v; |
628 | foreach (OMV.Vector3 v in m_accumulatedForces) | ||
629 | { | ||
630 | fSum += v; | ||
631 | } | ||
632 | m_accumulatedForces.Clear(); | ||
633 | |||
634 | DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum); | ||
635 | BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum); | ||
636 | } | 628 | } |
629 | m_accumulatedForces.Clear(); | ||
637 | } | 630 | } |
631 | DetailLog("{0},AddObjectForce,taint,force={1}", LocalID, _force); | ||
632 | BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); | ||
638 | }); | 633 | }); |
639 | } | 634 | } |
640 | 635 | ||
@@ -647,11 +642,23 @@ public sealed class BSPrim : PhysicsActor | |||
647 | } | 642 | } |
648 | public override void SubscribeEvents(int ms) { | 643 | public override void SubscribeEvents(int ms) { |
649 | _subscribedEventsMs = ms; | 644 | _subscribedEventsMs = ms; |
650 | // make sure first collision happens | 645 | if (ms > 0) |
651 | _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; | 646 | { |
647 | // make sure first collision happens | ||
648 | _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; | ||
649 | |||
650 | Scene.TaintedObject(delegate() | ||
651 | { | ||
652 | BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
653 | }); | ||
654 | } | ||
652 | } | 655 | } |
653 | public override void UnSubscribeEvents() { | 656 | public override void UnSubscribeEvents() { |
654 | _subscribedEventsMs = 0; | 657 | _subscribedEventsMs = 0; |
658 | Scene.TaintedObject(delegate() | ||
659 | { | ||
660 | BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
661 | }); | ||
655 | } | 662 | } |
656 | public override bool SubscribedEvents() { | 663 | public override bool SubscribedEvents() { |
657 | return (_subscribedEventsMs > 0); | 664 | return (_subscribedEventsMs > 0); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 0ffbc94..4e05df6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -179,17 +179,18 @@ public struct ConfigurationParameters | |||
179 | // Values used by Bullet and BulletSim to control collisions | 179 | // Values used by Bullet and BulletSim to control collisions |
180 | public enum CollisionFlags : uint | 180 | public enum CollisionFlags : uint |
181 | { | 181 | { |
182 | STATIC_OBJECT = 1 << 0, | 182 | CF_STATIC_OBJECT = 1 << 0, |
183 | KINEMATIC_OBJECT = 1 << 1, | 183 | CF_KINEMATIC_OBJECT = 1 << 1, |
184 | NO_CONTACT_RESPONSE = 1 << 2, | 184 | CF_NO_CONTACT_RESPONSE = 1 << 2, |
185 | CUSTOM_MATERIAL_CALLBACK = 1 << 3, | 185 | CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3, |
186 | CHARACTER_OBJECT = 1 << 4, | 186 | CF_CHARACTER_OBJECT = 1 << 4, |
187 | DISABLE_VISUALIZE_OBJECT = 1 << 5, | 187 | CF_DISABLE_VISUALIZE_OBJECT = 1 << 5, |
188 | DISABLE_SPU_COLLISION_PROCESS = 1 << 6, | 188 | CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, |
189 | // Following used by BulletSim to control collisions | 189 | // Following used by BulletSim to control collisions |
190 | VOLUME_DETECT_OBJECT = 1 << 10, | 190 | BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, |
191 | PHANTOM_OBJECT = 1 << 11, | 191 | BS_VOLUME_DETECT_OBJECT = 1 << 11, |
192 | PHYSICAL_OBJECT = 1 << 12, | 192 | BS_PHANTOM_OBJECT = 1 << 12, |
193 | BS_PHYSICAL_OBJECT = 1 << 13, | ||
193 | }; | 194 | }; |
194 | 195 | ||
195 | // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 | 196 | // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 |
@@ -448,6 +449,9 @@ public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocit | |||
448 | public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); | 449 | public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); |
449 | 450 | ||
450 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 451 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
452 | public static extern bool AddObjectForce2(IntPtr obj, Vector3 force); | ||
453 | |||
454 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
451 | public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); | 455 | public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); |
452 | 456 | ||
453 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 457 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -478,13 +482,13 @@ public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); | |||
478 | public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); | 482 | public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); |
479 | 483 | ||
480 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 484 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
481 | public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags); | 485 | public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags); |
482 | 486 | ||
483 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 487 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
484 | public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags); | 488 | public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); |
485 | 489 | ||
486 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 490 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
487 | public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags); | 491 | public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); |
488 | 492 | ||
489 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 493 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
490 | public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); | 494 | public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); |