From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- .../Physics/BulletSNPlugin/BSLinksetConstraints.cs | 316 --------------------- 1 file changed, 316 deletions(-) delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs (limited to 'OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs') diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs deleted file mode 100644 index 46ff99f..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs +++ /dev/null @@ -1,316 +0,0 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; - -using OMV = OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ -public sealed class BSLinksetConstraints : BSLinkset -{ - // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; - - public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent) - { - } - - // When physical properties are changed the linkset needs to recalculate - // its internal properties. - // This is queued in the 'post taint' queue so the - // refresh will happen once after all the other taints are applied. - public override void Refresh(BSPhysObject requestor) - { - base.Refresh(requestor); - - // Queue to happen after all the other taint processing - PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() - { - if (HasAnyChildren && IsRoot(requestor)) - RecomputeLinksetConstraints(); - }); - } - - // The object is going dynamic (physical). Do any setup necessary - // for a dynamic linkset. - // Only the state of the passed object can be modified. The rest of the linkset - // has not yet been fully constructed. - // Return 'true' if any properties updated on the passed object. - // Called at taint-time! - public override bool MakeDynamic(BSPhysObject child) - { - // What is done for each object in BSPrim is what we want. - return false; - } - - // The object is going static (non-physical). Do any setup necessary for a static linkset. - // Return 'true' if any properties updated on the passed object. - // This doesn't normally happen -- OpenSim removes the objects from the physical - // world if it is a static linkset. - // Called at taint-time! - public override bool MakeStatic(BSPhysObject child) - { - // What is done for each object in BSPrim is what we want. - return false; - } - - // Called at taint-time!! - public override void UpdateProperties(BSPhysObject updated, bool inTaintTime) - { - // Nothing to do for constraints on property updates - } - - // Routine called when rebuilding the body of some member of the linkset. - // Destroy all the constraints have have been made to root and set - // up to rebuild the constraints before the next simulation step. - // Returns 'true' of something was actually removed and would need restoring - // Called at taint-time!! - public override bool RemoveBodyDependencies(BSPrim child) - { - bool ret = false; - - DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString()); - - lock (m_linksetActivityLock) - { - // Just undo all the constraints for this linkset. Rebuild at the end of the step. - ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); - // Cause the constraints, et al to be rebuilt before the next simulation step. - Refresh(LinksetRoot); - } - return ret; - } - - // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', - // this routine will restore the removed constraints. - // Called at taint-time!! - public override void RestoreBodyDependencies(BSPrim child) - { - // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. - } - - // ================================================================ - - // Add a new child to the linkset. - // Called while LinkActivity is locked. - protected override void AddChildToLinkset(BSPhysObject child) - { - if (!HasChild(child)) - { - m_children.Add(child); - - DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); - - // Cause constraints and assorted properties to be recomputed before the next simulation step. - Refresh(LinksetRoot); - } - return; - } - - // Remove the specified child from the linkset. - // Safe to call even if the child is not really in my linkset. - protected override void RemoveChildFromLinkset(BSPhysObject child) - { - if (m_children.Remove(child)) - { - BSPhysObject rootx = LinksetRoot; // capture the root and body as of now - BSPhysObject childx = child; - - DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", - childx.LocalID, - rootx.LocalID, rootx.PhysBody.ptr.ToString(), - childx.LocalID, childx.PhysBody.ptr.ToString()); - - PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() - { - PhysicallyUnlinkAChildFromRoot(rootx, childx); - }); - // See that the linkset parameters are recomputed at the end of the taint time. - Refresh(LinksetRoot); - } - else - { - // Non-fatal occurance. - // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); - } - return; - } - - // Create a constraint between me (root of linkset) and the passed prim (the child). - // 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(true); - - // Relative position normalized to the root prim - // Essentually a vector pointing from center of rootPrim to center of childPrim - OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position; - - // real world coordinate of midpoint between the two objects - OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - - DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", - rootPrim.LocalID, - rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(), - childPrim.LocalID, childPrim.PhysBody.ptr.ToString(), - rootPrim.Position, childPrim.Position, midPoint); - - // create a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - - BSConstraint6Dof constrain = new BSConstraint6Dof( - PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true ); - // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true ); - - /* NOTE: below is an attempt to build constraint with full frame computation, etc. - * Using the midpoint is easier since it lets the Bullet code manipulate the transforms - * of the objects. - * Code left for future programmers. - // ================================================================================== - // relative position normalized to the root prim - OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); - OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; - - // relative rotation of the child to the parent - OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; - OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); - - DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); - BS6DofConstraint constrain = new BS6DofConstraint( - PhysicsScene.World, rootPrim.Body, childPrim.Body, - OMV.Vector3.Zero, - OMV.Quaternion.Inverse(rootPrim.Orientation), - OMV.Vector3.Zero, - OMV.Quaternion.Inverse(childPrim.Orientation), - true, - true - ); - // ================================================================================== - */ - - PhysicsScene.Constraints.AddConstraint(constrain); - - // zero linear and angular limits makes the objects unable to move in relation to each other - constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - - // tweek the constraint to increase stability - constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset)); - constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor), - BSParam.LinkConstraintTransMotorMaxVel, - BSParam.LinkConstraintTransMotorMaxForce); - constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP); - if (BSParam.LinkConstraintSolverIterations != 0f) - { - constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations); - } - return constrain; - } - - // Remove linkage between the linkset root and a particular child - // The root and child bodies are passed in because we need to remove the constraint between - // the bodies that were present at unlink time. - // Called at taint time! - private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) - { - bool ret = false; - DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", - rootPrim.LocalID, - rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(), - childPrim.LocalID, childPrim.PhysBody.ptr.ToString()); - - // Find the constraint for this link and get rid of it from the overall collection and from my list - if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) - { - // Make the child refresh its location - BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr); - ret = true; - } - - return ret; - } - - // Remove linkage between myself and any possible children I might have. - // Returns 'true' of any constraints were destroyed. - // Called at taint time! - private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) - { - DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - - return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody); - } - - // Call each of the constraints that make up this linkset and recompute the - // 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. - // Called at taint time!! - private void RecomputeLinksetConstraints() - { - float linksetMass = LinksetMass; - LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true); - - // DEBUG: see of inter-linkset collisions are causing problems - // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", - LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), 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.) - child.UpdatePhysicalMassProperties(linksetMass, true); - - BSConstraint constrain; - if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) - { - // If constraint doesn't exist yet, create it. - constrain = BuildConstraint(LinksetRoot, child); - } - constrain.RecomputeConstraintVariables(linksetMass); - - // DEBUG: see of inter-linkset collisions are causing problems - // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - - // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG - } - - } -} -} -- cgit v1.1