From 93fe384cce42e91337f446fd658ef29ca3d9f733 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 29 Oct 2012 14:33:31 -0700
Subject: BulletSim: Use the PostTaints operation to build the linkset once
before the next simulation step. This eliminates the management of children
vs taintChildren and simplifies the constratin creation code.
---
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 52 +++-----
.../Physics/BulletSPlugin/BSLinksetConstraints.cs | 140 +++++++--------------
2 files changed, 68 insertions(+), 124 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 569d2e7..187951e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -61,16 +61,7 @@ public abstract class BSLinkset
public int LinksetID { get; private set; }
// The children under the root in this linkset.
- // There are two lists of children: the current children at runtime
- // and the children at taint-time. For instance, if you delink a
- // child from the linkset, the child is removed from m_children
- // but the constraint won't be removed until taint time.
- // Two lists lets this track the 'current' children and
- // the physical 'taint' children separately.
- // After taint processing and before the simulation step, these
- // two lists must be the same.
protected HashSet<BSPhysObject> m_children;
- protected HashSet<BSPhysObject> m_taintChildren;
// We lock the diddling of linkset classes to prevent any badness.
// This locks the modification of the instances of this class. Changes
@@ -110,7 +101,6 @@ public abstract class BSLinkset
PhysicsScene = scene;
LinksetRoot = parent;
m_children = new HashSet<BSPhysObject>();
- m_taintChildren = new HashSet<BSPhysObject>();
m_mass = parent.MassRaw;
}
@@ -192,7 +182,7 @@ public abstract class BSLinkset
lock (m_linksetActivityLock)
{
action(LinksetRoot);
- foreach (BSPhysObject po in m_taintChildren)
+ foreach (BSPhysObject po in m_children)
{
if (action(po))
break;
@@ -201,9 +191,24 @@ public abstract class BSLinkset
return ret;
}
+ // I am the root of a linkset and a new child is being added
+ // Called while LinkActivity is locked.
+ protected abstract void AddChildToLinkset(BSPhysObject child);
+
+ // Forcefully removing a child from a linkset.
+ // This is not being called by the child so we have to make sure the child doesn't think
+ // it's still connected to the linkset.
+ // Normal OpenSimulator operation will never do this because other SceneObjectPart information
+ // also has to be updated (like pointer to prim's parent).
+ protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild);
+
+ // I am the root of a linkset and one of my children is being removed.
+ // Safe to call even if the child is not really in my linkset.
+ protected abstract void RemoveChildFromLinkset(BSPhysObject child);
+
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
- // May be called at runtime or taint-time (just pass the appropriate flag).
+ // May be called at runtime or taint-time.
public abstract void Refresh(BSPhysObject requestor);
// The object is going dynamic (physical). Do any setup necessary
@@ -238,8 +243,6 @@ public abstract class BSLinkset
public abstract void RestoreBodyDependencies(BSPrim child);
// ================================================================
- // Below this point is internal magic
-
protected virtual float ComputeLinksetMass()
{
float mass = LinksetRoot.MassRaw;
@@ -264,7 +267,7 @@ public abstract class BSLinkset
com = LinksetRoot.Position * LinksetRoot.MassRaw;
float totalMass = LinksetRoot.MassRaw;
- foreach (BSPhysObject bp in m_taintChildren)
+ foreach (BSPhysObject bp in m_children)
{
com += bp.Position * bp.MassRaw;
totalMass += bp.MassRaw;
@@ -283,31 +286,16 @@ public abstract class BSLinkset
{
com = LinksetRoot.Position;
- foreach (BSPhysObject bp in m_taintChildren)
+ foreach (BSPhysObject bp in m_children)
{
com += bp.Position * bp.MassRaw;
}
- com /= (m_taintChildren.Count + 1);
+ com /= (m_children.Count + 1);
}
return com;
}
- // I am the root of a linkset and a new child is being added
- // Called while LinkActivity is locked.
- protected abstract void AddChildToLinkset(BSPhysObject child);
-
- // Forcefully removing a child from a linkset.
- // This is not being called by the child so we have to make sure the child doesn't think
- // it's still connected to the linkset.
- // Normal OpenSimulator operation will never do this because other SceneObjectPart information
- // also has to be updated (like pointer to prim's parent).
- protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild);
-
- // I am the root of a linkset and one of my children is being removed.
- // Safe to call even if the child is not really in my linkset.
- protected abstract void RemoveChildFromLinkset(BSPhysObject child);
-
// Invoke the detailed logger and output something if it's enabled.
protected void DetailLog(string msg, params Object[] args)
{
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 086aa12..6c1fa2a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -54,7 +54,7 @@ public sealed class BSLinksetConstraints : BSLinkset
// Queue to happen after all the other taint processing
PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
{
- RecomputeLinksetConstraintVariables();
+ RecomputeLinksetConstraints();
});
}
@@ -98,24 +98,13 @@ public sealed class BSLinksetConstraints : BSLinkset
lock (m_linksetActivityLock)
{
- if (IsRoot(child))
- {
- // If the one with the dependency is root, must undo all children
- DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
- child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
+ // Just undo all the constraints for this linkset. Rebuild at the end of the step.
+ DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
+ child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
- ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
- }
- else
- {
- DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
- child.LocalID,
- LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
- child.LocalID, child.BSBody.ptr.ToString("X"));
- // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child);
- // Despite the function name, this removes any link to the specified object.
- ret = PhysicallyUnlinkAllChildrenFromRoot(child);
- }
+ ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
+ // Cause the constraints, et al to be rebuilt before the next simulation step.
+ Refresh(LinksetRoot);
}
return ret;
}
@@ -125,26 +114,7 @@ public sealed class BSLinksetConstraints : BSLinkset
// Called at taint-time!!
public override void RestoreBodyDependencies(BSPrim child)
{
- lock (m_linksetActivityLock)
- {
- if (IsRoot(child))
- {
- DetailLog("{0},BSLinksetConstraint.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
- child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
- foreach (BSPhysObject bpo in m_taintChildren)
- {
- PhysicallyLinkAChildToRoot(LinksetRoot, bpo);
- }
- }
- else
- {
- DetailLog("{0},BSLinksetConstraint.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
- LinksetRoot.LocalID,
- LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
- child.LocalID, child.BSBody.ptr.ToString("X"));
- PhysicallyLinkAChildToRoot(LinksetRoot, child);
- }
- }
+ // The Refresh operation will build any missing constraints.
}
// ================================================================
@@ -163,18 +133,7 @@ public sealed class BSLinksetConstraints : BSLinkset
DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
- PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
- {
- DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}",
- rootx.LocalID,
- rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
- childx.LocalID, childx.BSBody.ptr.ToString("X"));
- // Since this is taint-time, the body and shape could have changed for the child
- rootx.ForcePosition = rootx.Position; // DEBUG
- childx.ForcePosition = childx.Position; // DEBUG
- PhysicallyLinkAChildToRoot(rootx, childx);
- m_taintChildren.Add(child);
- });
+ // Cause constraints and assorted properties to be recomputed before the next simulation step.
Refresh(LinksetRoot);
}
return;
@@ -207,7 +166,6 @@ public sealed class BSLinksetConstraints : BSLinkset
PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
{
- m_taintChildren.Remove(child);
PhysicallyUnlinkAChildFromRoot(rootx, childx);
});
// See that the linkset parameters are recomputed at the end of the taint time.
@@ -225,6 +183,12 @@ public sealed class BSLinksetConstraints : BSLinkset
// Called at taint time!
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
{
+ // Don't build the constraint when asked. Put it off until just before the simulation step.
+ Refresh(rootPrim);
+ }
+
+ private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
+ {
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
@@ -235,7 +199,7 @@ public sealed class BSLinksetConstraints : BSLinkset
// real world coordinate of midpoint between the two objects
OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
- DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
+ DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
@@ -297,6 +261,7 @@ public sealed class BSLinksetConstraints : BSLinkset
{
constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
}
+ return constrain;
}
// Remove linkage between myself and a particular child
@@ -337,56 +302,47 @@ public sealed class BSLinksetConstraints : BSLinkset
}
// Call each of the constraints that make up this linkset and recompute the
- // various transforms and variables. Used when objects are added or removed
- // from a linkset to make sure the constraints know about the new mass and
- // geometry.
+ // various transforms and variables. Create constraints of not created yet.
+ // Called before the simulation step to make sure the constraint based linkset
+ // is all initialized.
// Must only be called at taint time!!
- private void RecomputeLinksetConstraintVariables()
+ private void RecomputeLinksetConstraints()
{
float linksetMass = LinksetMass;
- foreach (BSPhysObject child in m_taintChildren)
+ LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
+
+ // For a multiple object linkset, set everybody's center of mass to the set's center of mass
+ OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
+ BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
+
+ // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
+ // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
+ DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,setCenterOfMass,COM={1},rBody={2},linksetMass={3}",
+ LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass);
+
+ foreach (BSPhysObject child in m_children)
{
+ // A child in the linkset physically shows the mass of the whole linkset.
+ // This allows Bullet to apply enough force on the child to move the whole linkset.
+ // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
+ BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
+ child.UpdatePhysicalMassProperties(linksetMass);
+
BSConstraint constrain;
- if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
- {
- // DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
- // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
- constrain.RecomputeConstraintVariables(linksetMass);
- }
- else
+ if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
{
- // Non-fatal error that happens when children are being added to the linkset but
- // their constraints have not been created yet.
- break;
+ // If constraint doesn't exist yet, create it.
+ constrain = BuildConstraint(LinksetRoot, child);
}
- }
+ constrain.RecomputeConstraintVariables(linksetMass);
- // If the whole linkset is not here, doesn't make sense to recompute linkset wide values
- if (m_children.Count == m_taintChildren.Count)
- {
- // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
- OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
- BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
- // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
- // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
- DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2},linksetMass={3}",
- LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass);
- foreach (BSPhysObject child in m_taintChildren)
- {
- BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
- // A child in the linkset physically shows the mass of the whole linkset.
- // This allows Bullet to apply enough force on the child to move the whole linkset.
- child.UpdatePhysicalMassProperties(linksetMass);
- // DEBUG: see of inter-linkset collisions are causing problems
- // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr,
- // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
- }
- // Also update the root's physical mass to the whole linkset
- LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
+ // DEBUG: see of inter-linkset collisions are causing problems
+ // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr,
+ // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
- // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG
+ // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG
}
- return;
+
}
}
}
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