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. --- .../Region/Physics/BulletSNPlugin/BSCharacter.cs | 814 ---------- .../Region/Physics/BulletSNPlugin/BSConstraint.cs | 135 -- .../Physics/BulletSNPlugin/BSConstraint6Dof.cs | 153 -- .../BulletSNPlugin/BSConstraintCollection.cs | 180 --- .../Physics/BulletSNPlugin/BSConstraintHinge.cs | 57 - .../Region/Physics/BulletSNPlugin/BSDynamics.cs | 1377 ----------------- OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs | 329 ---- .../Physics/BulletSNPlugin/BSLinksetCompound.cs | 397 ----- .../Physics/BulletSNPlugin/BSLinksetConstraints.cs | 316 ---- .../Region/Physics/BulletSNPlugin/BSMaterials.cs | 200 --- OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs | 347 ----- OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs | 559 ------- .../Region/Physics/BulletSNPlugin/BSPhysObject.cs | 346 ----- OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs | 81 - OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs | 1494 ------------------ OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs | 957 ------------ .../Physics/BulletSNPlugin/BSShapeCollection.cs | 1015 ------------- OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs | 208 --- .../Physics/BulletSNPlugin/BSTerrainHeightmap.cs | 175 --- .../Physics/BulletSNPlugin/BSTerrainManager.cs | 461 ------ .../Region/Physics/BulletSNPlugin/BSTerrainMesh.cs | 267 ---- .../Region/Physics/BulletSNPlugin/BulletSimAPI.cs | 1603 -------------------- .../Region/Physics/BulletSNPlugin/BulletSimData.cs | 280 ---- 23 files changed, 11751 deletions(-) delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs (limited to 'OpenSim/Region/Physics/BulletSNPlugin') diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs deleted file mode 100644 index d91c47f..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs +++ /dev/null @@ -1,814 +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.Reflection; -using log4net; -using OMV = OpenMetaverse; -using OpenSim.Framework; -using OpenSim.Region.Physics.Manager; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ -public sealed class BSCharacter : BSPhysObject -{ - private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); - private static readonly string LogHeader = "[BULLETS CHAR]"; - - // private bool _stopped; - private OMV.Vector3 _size; - private bool _grabbed; - private bool _selected; - private OMV.Vector3 _position; - private float _mass; - private float _avatarDensity; - private float _avatarVolume; - private OMV.Vector3 _force; - private OMV.Vector3 _velocity; - private OMV.Vector3 _torque; - private float _collisionScore; - private OMV.Vector3 _acceleration; - private OMV.Quaternion _orientation; - private int _physicsActorType; - private bool _isPhysical; - private bool _flying; - private bool _setAlwaysRun; - private bool _throttleUpdates; - private bool _isColliding; - private bool _collidingObj; - private bool _floatOnWater; - private OMV.Vector3 _rotationalVelocity; - private bool _kinematic; - private float _buoyancy; - - // The friction and velocity of the avatar is modified depending on whether walking or not. - private OMV.Vector3 _appliedVelocity; // the last velocity applied to the avatar - private float _currentFriction; // the friction currently being used (changed by setVelocity). - - private BSVMotor _velocityMotor; - - private OMV.Vector3 _PIDTarget; - private bool _usePID; - private float _PIDTau; - private bool _useHoverPID; - private float _PIDHoverHeight; - private PIDHoverType _PIDHoverType; - private float _PIDHoverTao; - - public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) - : base(parent_scene, localID, avName, "BSCharacter") - { - _physicsActorType = (int)ActorTypes.Agent; - _position = pos; - - // Old versions of ScenePresence passed only the height. If width and/or depth are zero, - // replace with the default values. - _size = size; - if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; - if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; - - // A motor to control the acceleration and deceleration of the avatar movement. - // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); - // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); - // Infinite decay and timescale values so motor only changes current to target values. - _velocityMotor = new BSVMotor("BSCharacter.Velocity", - 0.2f, // time scale - BSMotor.Infinite, // decay time scale - BSMotor.InfiniteVector, // friction timescale - 1f // efficiency - ); - _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. - - _flying = isFlying; - _orientation = OMV.Quaternion.Identity; - _velocity = OMV.Vector3.Zero; - _appliedVelocity = OMV.Vector3.Zero; - _buoyancy = ComputeBuoyancyFromFlying(isFlying); - _currentFriction = BSParam.AvatarStandingFriction; - _avatarDensity = BSParam.AvatarDensity; - - // The dimensions of the avatar capsule are kept in the scale. - // Physics creates a unit capsule which is scaled by the physics engine. - ComputeAvatarScale(_size); - // set _avatarVolume and _mass based on capsule size, _density and Scale - ComputeAvatarVolumeAndMass(); - DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", - LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); - - // do actual creation in taint time - PhysicsScene.TaintedObject("BSCharacter.create", delegate() - { - DetailLog("{0},BSCharacter.create,taint", LocalID); - // New body and shape into PhysBody and PhysShape - PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this); - - SetPhysicalProperties(); - }); - return; - } - - // called when this character is being destroyed and the resources should be released - public override void Destroy() - { - base.Destroy(); - - DetailLog("{0},BSCharacter.Destroy", LocalID); - PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() - { - PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); - PhysBody.Clear(); - PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); - PhysShape.Clear(); - }); - } - - private void SetPhysicalProperties() - { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); - - ZeroMotion(true); - ForcePosition = _position; - // Set the velocity and compute the proper friction - ForceVelocity = _velocity; - // Setting the current and target in the motor will cause it to start computing any deceleration. - _velocityMotor.Reset(); - _velocityMotor.SetCurrent(_velocity); - _velocityMotor.SetTarget(_velocity); - _velocityMotor.Enabled = false; - - // This will enable or disable the flying buoyancy of the avatar. - // Needs to be reset especially when an avatar is recreated after crossing a region boundry. - Flying = _flying; - - BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution); - BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); - BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); - BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); - if (BSParam.CcdMotionThreshold > 0f) - { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); - } - - UpdatePhysicalMassProperties(RawMass, false); - - // Make so capsule does not fall over - BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); - - BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); - - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation); - - // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION); - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); - - // Do this after the object has been added to the world - PhysBody.collisionType = CollisionType.Avatar; - PhysBody.ApplyCollisionMask(); - } - - public override void RequestPhysicsterseUpdate() - { - base.RequestPhysicsterseUpdate(); - } - // No one calls this method so I don't know what it could possibly mean - public override bool Stopped { get { return false; } } - - public override OMV.Vector3 Size { - get - { - // Avatar capsule size is kept in the scale parameter. - return _size; - } - - set { - // When an avatar's size is set, only the height is changed. - _size = value; - // Old versions of ScenePresence passed only the height. If width and/or depth are zero, - // replace with the default values. - if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; - if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; - - ComputeAvatarScale(_size); - ComputeAvatarVolumeAndMass(); - DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", - LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); - - PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() - { - if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) - { - BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); - UpdatePhysicalMassProperties(RawMass, true); - // Make sure this change appears as a property update event - BulletSimAPI.PushUpdate2(PhysBody.ptr); - } - }); - - } - } - - public override PrimitiveBaseShape Shape - { - set { BaseShape = value; } - } - // I want the physics engine to make an avatar capsule - public override BSPhysicsShapeType PreferredPhysicalShape - { - get {return BSPhysicsShapeType.SHAPE_CAPSULE; } - } - - public override bool Grabbed { - set { _grabbed = value; } - } - public override bool Selected { - set { _selected = value; } - } - public override void CrossingFailure() { return; } - public override void link(PhysicsActor obj) { return; } - public override void delink() { return; } - - // Set motion values to zero. - // Do it to the properties so the values get set in the physics engine. - // Push the setting of the values to the viewer. - // Called at taint time! - public override void ZeroMotion(bool inTaintTime) - { - _velocity = OMV.Vector3.Zero; - _acceleration = OMV.Vector3.Zero; - _rotationalVelocity = OMV.Vector3.Zero; - - // Zero some other properties directly into the physics engine - PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() - { - if (PhysBody.HasPhysicalBody) - BulletSimAPI.ClearAllForces2(PhysBody.ptr); - }); - } - public override void ZeroAngularMotion(bool inTaintTime) - { - _rotationalVelocity = OMV.Vector3.Zero; - - PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() - { - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); - // The next also get rid of applied linear force but the linear velocity is untouched. - BulletSimAPI.ClearForces2(PhysBody.ptr); - } - }); - } - - - public override void LockAngularMotion(OMV.Vector3 axis) { return; } - - public override OMV.Vector3 RawPosition - { - get { return _position; } - set { _position = value; } - } - public override OMV.Vector3 Position { - get { - // Don't refetch the position because this function is called a zillion times - // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID); - return _position; - } - set { - _position = value; - PositionSanityCheck(); - - PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() - { - DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - }); - } - } - public override OMV.Vector3 ForcePosition { - get { - _position = BulletSimAPI.GetPosition2(PhysBody.ptr); - return _position; - } - set { - _position = value; - PositionSanityCheck(); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - } - } - - - // Check that the current position is sane and, if not, modify the position to make it so. - // Check for being below terrain or on water. - // Returns 'true' of the position was made sane by some action. - private bool PositionSanityCheck() - { - bool ret = false; - - // TODO: check for out of bounds - if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position)) - { - // The character is out of the known/simulated area. - // Upper levels of code will handle the transition to other areas so, for - // the time, we just ignore the position. - return ret; - } - - // If below the ground, move the avatar up - float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); - if (Position.Z < terrainHeight) - { - DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); - _position.Z = terrainHeight + 2.0f; - ret = true; - } - if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) - { - float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); - if (Position.Z < waterHeight) - { - _position.Z = waterHeight; - ret = true; - } - } - - return ret; - } - - // A version of the sanity check that also makes sure a new position value is - // pushed back to the physics engine. This routine would be used by anyone - // who is not already pushing the value. - private bool PositionSanityCheck(bool inTaintTime) - { - bool ret = false; - if (PositionSanityCheck()) - { - // The new position value must be pushed into the physics engine but we can't - // just assign to "Position" because of potential call loops. - PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() - { - DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - }); - ret = true; - } - return ret; - } - - public override float Mass { get { return _mass; } } - - // used when we only want this prim's mass and not the linkset thing - public override float RawMass { - get {return _mass; } - } - public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) - { - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); - BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); - } - - public override OMV.Vector3 Force { - get { return _force; } - set { - _force = value; - // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); - PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() - { - DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); - if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); - }); - } - } - - public bool TouchingGround() - { - bool ret = BulletSimAPI.RayCastGround(PhysicsScene.World.ptr,_position,_size.Z * 0.55f, PhysBody.ptr); - return ret; - } - // Avatars don't do vehicles - public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } } - public override void VehicleFloatParam(int param, float value) { } - public override void VehicleVectorParam(int param, OMV.Vector3 value) {} - public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } - public override void VehicleFlags(int param, bool remove) { } - - // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more - public override void SetVolumeDetect(int param) { return; } - - public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } - public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } - - // Sets the target in the motor. This starts the changing of the avatar's velocity. - public override OMV.Vector3 TargetVelocity - { - get - { - return _velocityMotor.TargetValue; - } - set - { - DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value); - - if (!_flying) - if ((value.Z >= 0.0001f) || (value.Z <= -0.0001f) || _velocity.Z < -0.0001f) - if (!TouchingGround()) - value.Z = _velocity.Z; - if (_setAlwaysRun) - value *= 1.3f; - - OMV.Vector3 targetVel = value; - - PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() - { - - _velocityMotor.Reset(); - _velocityMotor.SetTarget(targetVel); - _velocityMotor.SetCurrent(_velocity); - _velocityMotor.Enabled = true; - - // Make sure a property update happens next step so the motor gets incorporated. - BulletSimAPI.PushUpdate2(PhysBody.ptr); - }); - } - } - // Directly setting velocity means this is what the user really wants now. - public override OMV.Vector3 Velocity { - get { return _velocity; } - set { - _velocity = value; - // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); - PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() - { - _velocityMotor.Reset(); - _velocityMotor.SetCurrent(_velocity); - _velocityMotor.SetTarget(_velocity); - // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar. - _velocityMotor.Enabled = false; - - DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); - ForceVelocity = _velocity; - }); - } - } - public override OMV.Vector3 ForceVelocity { - get { return _velocity; } - set { - PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); - - _velocity = value; - // Depending on whether the avatar is moving or not, change the friction - // to keep the avatar from slipping around - if (_velocity.Length() == 0) - { - if (_currentFriction != BSParam.AvatarStandingFriction) - { - _currentFriction = BSParam.AvatarStandingFriction; - if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); - } - } - else - { - if (_currentFriction != BSParam.AvatarFriction) - { - _currentFriction = BSParam.AvatarFriction; - if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); - } - } - // Remember the set velocity so we can suppress the reduction by friction, ... - _appliedVelocity = value; - - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); - BulletSimAPI.Activate2(PhysBody.ptr, true); - } - } - public override OMV.Vector3 Torque { - get { return _torque; } - set { _torque = value; - } - } - public override float CollisionScore { - get { return _collisionScore; } - set { _collisionScore = value; - } - } - public override OMV.Vector3 Acceleration { - get { return _acceleration; } - set { _acceleration = value; } - } - public override OMV.Quaternion RawOrientation - { - get { return _orientation; } - set { _orientation = value; } - } - public override OMV.Quaternion Orientation { - get { return _orientation; } - set { - _orientation = value; - // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); - PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() - { - if (PhysBody.HasPhysicalBody) - { - // _position = BulletSimAPI.GetPosition2(BSBody.ptr); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - } - }); - } - } - // Go directly to Bullet to get/set the value. - public override OMV.Quaternion ForceOrientation - { - get - { - _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); - return _orientation; - } - set - { - _orientation = value; - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - } - } - public override int PhysicsActorType { - get { return _physicsActorType; } - set { _physicsActorType = value; - } - } - public override bool IsPhysical { - get { return _isPhysical; } - set { _isPhysical = value; - } - } - public override bool IsSolid { - get { return true; } - } - public override bool IsStatic { - get { return false; } - } - public override bool Flying { - get { return _flying; } - set { - _flying = value; - - // simulate flying by changing the effect of gravity - Buoyancy = ComputeBuoyancyFromFlying(_flying); - } - } - // Flying is implimented by changing the avatar's buoyancy. - // Would this be done better with a vehicle type? - private float ComputeBuoyancyFromFlying(bool ifFlying) { - return ifFlying ? 1f : 0f; - } - public override bool - SetAlwaysRun { - get { return _setAlwaysRun; } - set { _setAlwaysRun = value; } - } - public override bool ThrottleUpdates { - get { return _throttleUpdates; } - set { _throttleUpdates = value; } - } - public override bool IsColliding { - get { return (CollidingStep == PhysicsScene.SimulationStep); } - set { _isColliding = value; } - } - public override bool CollidingGround { - get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } - set { CollidingGround = value; } - } - public override bool CollidingObj { - get { return _collidingObj; } - set { _collidingObj = value; } - } - public override bool FloatOnWater { - set { - _floatOnWater = value; - PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() - { - if (PhysBody.HasPhysicalBody) - { - if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); - else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); - } - }); - } - } - public override OMV.Vector3 RotationalVelocity { - get { return _rotationalVelocity; } - set { _rotationalVelocity = value; } - } - public override OMV.Vector3 ForceRotationalVelocity { - get { return _rotationalVelocity; } - set { _rotationalVelocity = value; } - } - public override bool Kinematic { - get { return _kinematic; } - set { _kinematic = value; } - } - // neg=fall quickly, 0=1g, 1=0g, pos=float up - public override float Buoyancy { - get { return _buoyancy; } - set { _buoyancy = value; - PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate() - { - DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); - ForceBuoyancy = _buoyancy; - }); - } - } - public override float ForceBuoyancy { - get { return _buoyancy; } - set { - PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy"); - - _buoyancy = value; - DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); - // Buoyancy is faked by changing the gravity applied to the object - float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); - } - } - - // Used for MoveTo - public override OMV.Vector3 PIDTarget { - set { _PIDTarget = value; } - } - public override bool PIDActive { - set { _usePID = value; } - } - public override float PIDTau { - set { _PIDTau = value; } - } - - // Used for llSetHoverHeight and maybe vehicle height - // Hover Height will override MoveTo target's Z - public override bool PIDHoverActive { - set { _useHoverPID = value; } - } - public override float PIDHoverHeight { - set { _PIDHoverHeight = value; } - } - public override PIDHoverType PIDHoverType { - set { _PIDHoverType = value; } - } - public override float PIDHoverTau { - set { _PIDHoverTao = value; } - } - - // For RotLookAt - public override OMV.Quaternion APIDTarget { set { return; } } - public override bool APIDActive { set { return; } } - public override float APIDStrength { set { return; } } - public override float APIDDamping { set { return; } } - - public override void AddForce(OMV.Vector3 force, bool pushforce) { - if (force.IsFinite()) - { - _force.X += force.X; - _force.Y += force.Y; - _force.Z += force.Z; - // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); - PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() - { - DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); - if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); - }); - } - else - { - m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader); - } - //m_lastUpdateSent = false; - } - - public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { - } - public override void SetMomentum(OMV.Vector3 momentum) { - } - - private void ComputeAvatarScale(OMV.Vector3 size) - { - OMV.Vector3 newScale = size; - // newScale.X = PhysicsScene.Params.avatarCapsuleWidth; - // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth; - - // From the total height, remove the capsule half spheres that are at each end - // The 1.15f came from ODE. Not sure what this factors in. - // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y); - - // The total scale height is the central cylindar plus the caps on the two ends. - newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f); - - // Convert diameters to radii and height to half height -- the way Bullet expects it. - Scale = newScale / 2f; - } - - // set _avatarVolume and _mass based on capsule size, _density and Scale - private void ComputeAvatarVolumeAndMass() - { - _avatarVolume = (float)( - Math.PI - * Scale.X - * Scale.Y // the area of capsule cylinder - * Scale.Z // times height of capsule cylinder - + 1.33333333f - * Math.PI - * Scale.X - * Math.Min(Scale.X, Scale.Y) - * Scale.Y // plus the volume of the capsule end caps - ); - _mass = _avatarDensity * _avatarVolume; - } - - // The physics engine says that properties have updated. Update same and inform - // the world that things have changed. - public override void UpdateProperties(EntityProperties entprop) - { - _position = entprop.Position; - _orientation = entprop.Rotation; - _velocity = entprop.Velocity; - _acceleration = entprop.Acceleration; - _rotationalVelocity = entprop.RotationalVelocity; - - // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. - PositionSanityCheck(true); - - if (_velocityMotor.Enabled) - { - // TODO: Decide if the step parameters should be changed depending on the avatar's - // state (flying, colliding, ...). - - OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep); - - // If falling, we keep the world's downward vector no matter what the other axis specify. - if (!Flying && !IsColliding) - { - stepVelocity.Z = entprop.Velocity.Z; - DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); - } - - // If the user has said stop and we've stopped applying velocity correction, - // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer. - if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) - { - ZeroMotion(true); - stepVelocity = OMV.Vector3.Zero; - _velocityMotor.Enabled = false; - DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor); - } - - _velocity = stepVelocity; - entprop.Velocity = _velocity; - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); - } - - // remember the current and last set values - LastEntityProperties = CurrentEntityProperties; - CurrentEntityProperties = entprop; - - // Tell the linkset about value changes - Linkset.UpdateProperties(this, true); - - // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. - // base.RequestPhysicsterseUpdate(); - - DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs deleted file mode 100644 index f1bed39..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs +++ /dev/null @@ -1,135 +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 OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - -public abstract class BSConstraint : IDisposable -{ - private static string LogHeader = "[BULLETSIM CONSTRAINT]"; - - protected BulletWorld m_world; - protected BulletBody m_body1; - protected BulletBody m_body2; - protected BulletConstraint m_constraint; - protected bool m_enabled = false; - - public BulletBody Body1 { get { return m_body1; } } - public BulletBody Body2 { get { return m_body2; } } - public BulletConstraint Constraint { get { return m_constraint; } } - public abstract ConstraintType Type { get; } - public bool IsEnabled { get { return m_enabled; } } - - public BSConstraint() - { - } - - public virtual void Dispose() - { - if (m_enabled) - { - m_enabled = false; - if (m_constraint.HasPhysicalConstraint) - { - bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); - m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", - BSScene.DetailLogZero, - m_body1.ID, m_body1.ptr.ToString(), - m_body2.ID, m_body2.ptr.ToString(), - success); - m_constraint.Clear(); - } - } - } - - public virtual bool SetLinearLimits(Vector3 low, Vector3 high) - { - bool ret = false; - if (m_enabled) - ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high); - return ret; - } - - public virtual bool SetAngularLimits(Vector3 low, Vector3 high) - { - bool ret = false; - if (m_enabled) - ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high); - return ret; - } - - public virtual bool SetSolverIterations(float cnt) - { - bool ret = false; - if (m_enabled) - { - BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt); - ret = true; - } - return ret; - } - - public virtual bool CalculateTransforms() - { - bool ret = false; - if (m_enabled) - { - // Recompute the internal transforms - BulletSimAPI.CalculateTransforms2(m_constraint.ptr); - ret = true; - } - return ret; - } - - // Reset this constraint making sure it has all its internal structures - // recomputed and is enabled and ready to go. - public virtual bool RecomputeConstraintVariables(float mass) - { - bool ret = false; - if (m_enabled) - { - ret = CalculateTransforms(); - if (ret) - { - // Setting an object's mass to zero (making it static like when it's selected) - // automatically disables the constraints. - // If the link is enabled, be sure to set the constraint itself to enabled. - BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true)); - } - else - { - m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID); - } - } - return ret; - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs deleted file mode 100644 index d1e3f55..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs +++ /dev/null @@ -1,153 +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 OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - -public sealed class BSConstraint6Dof : BSConstraint -{ - private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; - - public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } - - // Create a btGeneric6DofConstraint - public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) - { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, - frame1, frame1rot, - frame2, frame2rot, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - m_enabled = true; - world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, - obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); - } - - public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 joinPoint, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) - { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody) - { - world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, - obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); - world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); - m_enabled = false; - } - else - { - m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, - joinPoint, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", - BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString(), - obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); - if (!m_constraint.HasPhysicalConstraint) - { - world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", - LogHeader, obj1.ID, obj2.ID); - m_enabled = false; - } - else - { - m_enabled = true; - } - } - } - - public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) - { - bool ret = false; - if (m_enabled) - { - BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); - ret = true; - } - return ret; - } - - public bool SetCFMAndERP(float cfm, float erp) - { - bool ret = false; - if (m_enabled) - { - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - ret = true; - } - return ret; - } - - public bool UseFrameOffset(bool useOffset) - { - bool ret = false; - float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff); - return ret; - } - - public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) - { - bool ret = false; - float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - { - ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce); - m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}", - BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce); - } - return ret; - } - - public bool SetBreakingImpulseThreshold(float threshold) - { - bool ret = false; - if (m_enabled) - ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); - return ret; - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs deleted file mode 100644 index 87d1e44..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs +++ /dev/null @@ -1,180 +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 log4net; -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - -public sealed class BSConstraintCollection : IDisposable -{ - // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); - // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; - - delegate bool ConstraintAction(BSConstraint constrain); - - private List m_constraints; - private BulletWorld m_world; - - public BSConstraintCollection(BulletWorld world) - { - m_world = world; - m_constraints = new List(); - } - - public void Dispose() - { - this.Clear(); - } - - public void Clear() - { - lock (m_constraints) - { - foreach (BSConstraint cons in m_constraints) - { - cons.Dispose(); - } - m_constraints.Clear(); - } - } - - public bool AddConstraint(BSConstraint cons) - { - lock (m_constraints) - { - // There is only one constraint between any bodies. Remove any old just to make sure. - RemoveAndDestroyConstraint(cons.Body1, cons.Body2); - - m_constraints.Add(cons); - } - - return true; - } - - // Get the constraint between two bodies. There can be only one. - // Return 'true' if a constraint was found. - public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) - { - bool found = false; - BSConstraint foundConstraint = null; - - uint lookingID1 = body1.ID; - uint lookingID2 = body2.ID; - lock (m_constraints) - { - foreach (BSConstraint constrain in m_constraints) - { - if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) - || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) - { - foundConstraint = constrain; - found = true; - break; - } - } - } - returnConstraint = foundConstraint; - return found; - } - - // Remove any constraint between the passed bodies. - // Presumed there is only one such constraint possible. - // Return 'true' if a constraint was found and destroyed. - public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) - { - bool ret = false; - lock (m_constraints) - { - BSConstraint constrain; - if (this.TryGetConstraint(body1, body2, out constrain)) - { - // remove the constraint from our collection - RemoveAndDestroyConstraint(constrain); - ret = true; - } - } - - return ret; - } - - // The constraint MUST exist in the collection - public bool RemoveAndDestroyConstraint(BSConstraint constrain) - { - lock (m_constraints) - { - // remove the constraint from our collection - m_constraints.Remove(constrain); - } - // tell the engine that all its structures need to be freed - constrain.Dispose(); - // we destroyed something - return true; - } - - // Remove all constraints that reference the passed body. - // Return 'true' if any constraints were destroyed. - public bool RemoveAndDestroyConstraint(BulletBody body1) - { - List toRemove = new List(); - uint lookingID = body1.ID; - lock (m_constraints) - { - foreach (BSConstraint constrain in m_constraints) - { - if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) - { - toRemove.Add(constrain); - } - } - foreach (BSConstraint constrain in toRemove) - { - m_constraints.Remove(constrain); - constrain.Dispose(); - } - } - return (toRemove.Count > 0); - } - - public bool RecalculateAllConstraints() - { - bool ret = false; - lock (m_constraints) - { - foreach (BSConstraint constrain in m_constraints) - { - constrain.CalculateTransforms(); - ret = true; - } - } - return ret; - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs deleted file mode 100644 index fbd1bc0..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs +++ /dev/null @@ -1,57 +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 OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - -public sealed class BSConstraintHinge : BSConstraint -{ - public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } - - public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 pivotInA, Vector3 pivotInB, - Vector3 axisInA, Vector3 axisInB, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) - { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - m_constraint = new BulletConstraint( - BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, - pivotInA, pivotInB, - axisInA, axisInB, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - m_enabled = true; - } - -} - -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs deleted file mode 100644 index 415ad4f..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs +++ /dev/null @@ -1,1377 +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 copyright - * 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. - * - * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial - * are Copyright (c) 2009 Linden Research, Inc and are used under their license - * of Creative Commons Attribution-Share Alike 3.0 - * (http://creativecommons.org/licenses/by-sa/3.0/). - */ - -using System; -using System.Collections.Generic; -using System.Reflection; -using System.Runtime.InteropServices; -using OpenMetaverse; -using OpenSim.Region.Physics.Manager; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - public sealed class BSDynamics - { - private static string LogHeader = "[BULLETSIM VEHICLE]"; - - private BSScene PhysicsScene { get; set; } - // the prim this dynamic controller belongs to - private BSPrim Prim { get; set; } - - // mass of the vehicle fetched each time we're calles - private float m_vehicleMass; - - // Vehicle properties - public Vehicle Type { get; set; } - - // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier - private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: - // HOVER_TERRAIN_ONLY - // HOVER_GLOBAL_HEIGHT - // NO_DEFLECTION_UP - // HOVER_WATER_ONLY - // HOVER_UP_ONLY - // LIMIT_MOTOR_UP - // LIMIT_ROLL_ONLY - private Vector3 m_BlockingEndPoint = Vector3.Zero; - private Quaternion m_RollreferenceFrame = Quaternion.Identity; - private Quaternion m_referenceFrame = Quaternion.Identity; - - // Linear properties - private BSVMotor m_linearMotor = new BSVMotor("LinearMotor"); - private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time - private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center - private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL - private Vector3 m_linearFrictionTimescale = Vector3.Zero; - private float m_linearMotorDecayTimescale = 0; - private float m_linearMotorTimescale = 0; - private Vector3 m_lastLinearVelocityVector = Vector3.Zero; - private Vector3 m_lastPositionVector = Vector3.Zero; - // private bool m_LinearMotorSetLastFrame = false; - // private Vector3 m_linearMotorOffset = Vector3.Zero; - - //Angular properties - private BSVMotor m_angularMotor = new BSVMotor("AngularMotor"); - private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor - // private int m_angularMotorApply = 0; // application frame counter - private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity - private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate - private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate - private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate - private Vector3 m_lastAngularVelocity = Vector3.Zero; - private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body - - //Deflection properties - private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection"); - private float m_angularDeflectionEfficiency = 0; - private float m_angularDeflectionTimescale = 0; - private float m_linearDeflectionEfficiency = 0; - private float m_linearDeflectionTimescale = 0; - - //Banking properties - private float m_bankingEfficiency = 0; - private float m_bankingMix = 0; - private float m_bankingTimescale = 0; - - //Hover and Buoyancy properties - private BSVMotor m_hoverMotor = new BSVMotor("Hover"); - private float m_VhoverHeight = 0f; - private float m_VhoverEfficiency = 0f; - private float m_VhoverTimescale = 0f; - private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height - private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. - // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) - // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. - // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. - - //Attractor properties - private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); - private float m_verticalAttractionEfficiency = 1.0f; // damped - private float m_verticalAttractionCutoff = 500f; // per the documentation - // Timescale > cutoff means no vert attractor. - private float m_verticalAttractionTimescale = 510f; - - // Just some recomputed constants: - static readonly float PIOverFour = ((float)Math.PI) / 4f; - static readonly float PIOverTwo = ((float)Math.PI) / 2f; - - public BSDynamics(BSScene myScene, BSPrim myPrim) - { - PhysicsScene = myScene; - Prim = myPrim; - Type = Vehicle.TYPE_NONE; - } - - // Return 'true' if this vehicle is doing vehicle things - public bool IsActive - { - get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; } - } - - internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) - { - VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); - switch (pParam) - { - case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: - m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); - break; - case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: - m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); - break; - case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: - m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); - m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; - break; - case Vehicle.ANGULAR_MOTOR_TIMESCALE: - m_angularMotorTimescale = Math.Max(pValue, 0.01f); - m_angularMotor.TimeScale = m_angularMotorTimescale; - break; - case Vehicle.BANKING_EFFICIENCY: - m_bankingEfficiency = ClampInRange(-1f, pValue, 1f); - break; - case Vehicle.BANKING_MIX: - m_bankingMix = Math.Max(pValue, 0.01f); - break; - case Vehicle.BANKING_TIMESCALE: - m_bankingTimescale = Math.Max(pValue, 0.01f); - break; - case Vehicle.BUOYANCY: - m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); - break; - case Vehicle.HOVER_EFFICIENCY: - m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); - break; - case Vehicle.HOVER_HEIGHT: - m_VhoverHeight = pValue; - break; - case Vehicle.HOVER_TIMESCALE: - m_VhoverTimescale = Math.Max(pValue, 0.01f); - break; - case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: - m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f); - break; - case Vehicle.LINEAR_DEFLECTION_TIMESCALE: - m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); - break; - case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: - m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); - m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale; - break; - case Vehicle.LINEAR_MOTOR_TIMESCALE: - m_linearMotorTimescale = Math.Max(pValue, 0.01f); - m_linearMotor.TimeScale = m_linearMotorTimescale; - break; - case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: - m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f); - m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency; - break; - case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: - m_verticalAttractionTimescale = Math.Max(pValue, 0.01f); - m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale; - break; - - // These are vector properties but the engine lets you use a single float value to - // set all of the components to the same value - case Vehicle.ANGULAR_FRICTION_TIMESCALE: - m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); - m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; - break; - case Vehicle.ANGULAR_MOTOR_DIRECTION: - m_angularMotorDirection = new Vector3(pValue, pValue, pValue); - m_angularMotor.SetTarget(m_angularMotorDirection); - break; - case Vehicle.LINEAR_FRICTION_TIMESCALE: - m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); - m_linearMotor.FrictionTimescale = m_linearFrictionTimescale; - break; - case Vehicle.LINEAR_MOTOR_DIRECTION: - m_linearMotorDirection = new Vector3(pValue, pValue, pValue); - m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); - m_linearMotor.SetTarget(m_linearMotorDirection); - break; - case Vehicle.LINEAR_MOTOR_OFFSET: - m_linearMotorOffset = new Vector3(pValue, pValue, pValue); - break; - - } - }//end ProcessFloatVehicleParam - - internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) - { - VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); - switch (pParam) - { - case Vehicle.ANGULAR_FRICTION_TIMESCALE: - m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; - break; - case Vehicle.ANGULAR_MOTOR_DIRECTION: - // Limit requested angular speed to 2 rps= 4 pi rads/sec - pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f); - pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); - pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); - m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_angularMotor.SetTarget(m_angularMotorDirection); - break; - case Vehicle.LINEAR_FRICTION_TIMESCALE: - m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_linearMotor.FrictionTimescale = m_linearFrictionTimescale; - break; - case Vehicle.LINEAR_MOTOR_DIRECTION: - m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_linearMotor.SetTarget(m_linearMotorDirection); - break; - case Vehicle.LINEAR_MOTOR_OFFSET: - m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); - break; - case Vehicle.BLOCK_EXIT: - m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); - break; - } - }//end ProcessVectorVehicleParam - - internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) - { - VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); - switch (pParam) - { - case Vehicle.REFERENCE_FRAME: - m_referenceFrame = pValue; - break; - case Vehicle.ROLL_FRAME: - m_RollreferenceFrame = pValue; - break; - } - }//end ProcessRotationVehicleParam - - internal void ProcessVehicleFlags(int pParam, bool remove) - { - VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove); - VehicleFlag parm = (VehicleFlag)pParam; - if (pParam == -1) - m_flags = (VehicleFlag)0; - else - { - if (remove) - m_flags &= ~parm; - else - m_flags |= parm; - } - } - - internal void ProcessTypeChange(Vehicle pType) - { - VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); - // Set Defaults For Type - Type = pType; - switch (pType) - { - case Vehicle.TYPE_NONE: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 0; - m_linearMotorDecayTimescale = 0; - m_linearFrictionTimescale = new Vector3(0, 0, 0); - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorDecayTimescale = 0; - m_angularMotorTimescale = 0; - m_angularFrictionTimescale = new Vector3(0, 0, 0); - - m_VhoverHeight = 0; - m_VhoverEfficiency = 0; - m_VhoverTimescale = 0; - m_VehicleBuoyancy = 0; - - m_linearDeflectionEfficiency = 1; - m_linearDeflectionTimescale = 1; - - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 1000; - - m_verticalAttractionEfficiency = 0; - m_verticalAttractionTimescale = 0; - - m_bankingEfficiency = 0; - m_bankingTimescale = 1000; - m_bankingMix = 1; - - m_referenceFrame = Quaternion.Identity; - m_flags = (VehicleFlag)0; - - break; - - case Vehicle.TYPE_SLED: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 1000; - m_linearMotorDecayTimescale = 120; - m_linearFrictionTimescale = new Vector3(30, 1, 1000); - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 1000; - m_angularMotorDecayTimescale = 120; - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - - m_VhoverHeight = 0; - m_VhoverEfficiency = 10; // TODO: this looks wrong!! - m_VhoverTimescale = 10; - m_VehicleBuoyancy = 0; - - m_linearDeflectionEfficiency = 1; - m_linearDeflectionTimescale = 1; - - m_angularDeflectionEfficiency = 1; - m_angularDeflectionTimescale = 1000; - - m_verticalAttractionEfficiency = 0; - m_verticalAttractionTimescale = 0; - - m_bankingEfficiency = 0; - m_bankingTimescale = 10; - m_bankingMix = 1; - - m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY - | VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT - | VehicleFlag.HOVER_UP_ONLY); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP - | VehicleFlag.LIMIT_ROLL_ONLY - | VehicleFlag.LIMIT_MOTOR_UP); - - break; - case Vehicle.TYPE_CAR: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 1; - m_linearMotorDecayTimescale = 60; - m_linearFrictionTimescale = new Vector3(100, 2, 1000); - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 1; - m_angularMotorDecayTimescale = 0.8f; - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - - m_VhoverHeight = 0; - m_VhoverEfficiency = 0; - m_VhoverTimescale = 1000; - m_VehicleBuoyancy = 0; - - m_linearDeflectionEfficiency = 1; - m_linearDeflectionTimescale = 2; - - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 10; - - m_verticalAttractionEfficiency = 1f; - m_verticalAttractionTimescale = 10f; - - m_bankingEfficiency = -0.2f; - m_bankingMix = 1; - m_bankingTimescale = 1; - - m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY - | VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP - | VehicleFlag.LIMIT_ROLL_ONLY - | VehicleFlag.LIMIT_MOTOR_UP - | VehicleFlag.HOVER_UP_ONLY); - break; - case Vehicle.TYPE_BOAT: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 5; - m_linearMotorDecayTimescale = 60; - m_linearFrictionTimescale = new Vector3(10, 3, 2); - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 4; - m_angularMotorDecayTimescale = 4; - m_angularFrictionTimescale = new Vector3(10,10,10); - - m_VhoverHeight = 0; - m_VhoverEfficiency = 0.5f; - m_VhoverTimescale = 2; - m_VehicleBuoyancy = 1; - - m_linearDeflectionEfficiency = 0.5f; - m_linearDeflectionTimescale = 3; - - m_angularDeflectionEfficiency = 0.5f; - m_angularDeflectionTimescale = 5; - - m_verticalAttractionEfficiency = 0.5f; - m_verticalAttractionTimescale = 5f; - - m_bankingEfficiency = -0.3f; - m_bankingMix = 0.8f; - m_bankingTimescale = 1; - - m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT - | VehicleFlag.LIMIT_ROLL_ONLY - | VehicleFlag.HOVER_UP_ONLY); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP - | VehicleFlag.LIMIT_MOTOR_UP - | VehicleFlag.HOVER_WATER_ONLY); - break; - case Vehicle.TYPE_AIRPLANE: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 2; - m_linearMotorDecayTimescale = 60; - m_linearFrictionTimescale = new Vector3(200, 10, 5); - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 4; - m_angularMotorDecayTimescale = 4; - m_angularFrictionTimescale = new Vector3(20, 20, 20); - - m_VhoverHeight = 0; - m_VhoverEfficiency = 0.5f; - m_VhoverTimescale = 1000; - m_VehicleBuoyancy = 0; - - m_linearDeflectionEfficiency = 0.5f; - m_linearDeflectionTimescale = 3; - - m_angularDeflectionEfficiency = 1; - m_angularDeflectionTimescale = 2; - - m_verticalAttractionEfficiency = 0.9f; - m_verticalAttractionTimescale = 2f; - - m_bankingEfficiency = 1; - m_bankingMix = 0.7f; - m_bankingTimescale = 2; - - m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY - | VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT - | VehicleFlag.HOVER_UP_ONLY - | VehicleFlag.NO_DEFLECTION_UP - | VehicleFlag.LIMIT_MOTOR_UP); - m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); - break; - case Vehicle.TYPE_BALLOON: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 5; - m_linearFrictionTimescale = new Vector3(5, 5, 5); - m_linearMotorDecayTimescale = 60; - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 6; - m_angularFrictionTimescale = new Vector3(10, 10, 10); - m_angularMotorDecayTimescale = 10; - - m_VhoverHeight = 5; - m_VhoverEfficiency = 0.8f; - m_VhoverTimescale = 10; - m_VehicleBuoyancy = 1; - - m_linearDeflectionEfficiency = 0; - m_linearDeflectionTimescale = 5; - - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 5; - - m_verticalAttractionEfficiency = 1f; - m_verticalAttractionTimescale = 100f; - - m_bankingEfficiency = 0; - m_bankingMix = 0.7f; - m_bankingTimescale = 5; - - m_referenceFrame = Quaternion.Identity; - - m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY - | VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_UP_ONLY - | VehicleFlag.NO_DEFLECTION_UP - | VehicleFlag.LIMIT_MOTOR_UP); - m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT); - break; - } - - // Update any physical parameters based on this type. - Refresh(); - - m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, - m_linearMotorDecayTimescale, m_linearFrictionTimescale, - 1f); - m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) - - m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, - m_angularMotorDecayTimescale, m_angularFrictionTimescale, - 1f); - m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) - - m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale, - BSMotor.Infinite, BSMotor.InfiniteVector, - m_verticalAttractionEfficiency); - // Z goes away and we keep X and Y - m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f); - m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) - } - - // Some of the properties of this prim may have changed. - // Do any updating needed for a vehicle - public void Refresh() - { - if (IsActive) - { - // Remember the mass so we don't have to fetch it every step - m_vehicleMass = Prim.Linkset.LinksetMass; - - // Friction affects are handled by this vehicle code - float friction = 0f; - BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction); - - // Moderate angular movement introduced by Bullet. - // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. - // Maybe compute linear and angular factor and damping from params. - float angularDamping = BSParam.VehicleAngularDamping; - BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); - - // Vehicles report collision events so we know when it's on the ground - BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); - - Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); - BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); - BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); - - Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); - BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav); - - VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", - Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); - } - else - { - BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); - } - } - - public bool RemoveBodyDependencies(BSPhysObject prim) - { - // If active, we need to add our properties back when the body is rebuilt. - return IsActive; - } - - public void RestoreBodyDependencies(BSPhysObject prim) - { - if (Prim.LocalID != prim.LocalID) - { - // The call should be on us by our prim. Error if not. - PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}", - LogHeader, prim.LocalID, Prim.LocalID); - return; - } - Refresh(); - } - - #region Known vehicle value functions - // Vehicle physical parameters that we buffer from constant getting and setting. - // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set. - // Changing is remembered and the parameter is stored back into the physics engine only if updated. - // This does two things: 1) saves continuious calls into unmanaged code, and - // 2) signals when a physics property update must happen back to the simulator - // to update values modified for the vehicle. - private int m_knownChanged; - private int m_knownHas; - private float m_knownTerrainHeight; - private float m_knownWaterLevel; - private Vector3 m_knownPosition; - private Vector3 m_knownVelocity; - private Vector3 m_knownForce; - private Quaternion m_knownOrientation; - private Vector3 m_knownRotationalVelocity; - private Vector3 m_knownRotationalForce; - private Vector3 m_knownForwardVelocity; // vehicle relative forward speed - - private const int m_knownChangedPosition = 1 << 0; - private const int m_knownChangedVelocity = 1 << 1; - private const int m_knownChangedForce = 1 << 2; - private const int m_knownChangedOrientation = 1 << 3; - private const int m_knownChangedRotationalVelocity = 1 << 4; - private const int m_knownChangedRotationalForce = 1 << 5; - private const int m_knownChangedTerrainHeight = 1 << 6; - private const int m_knownChangedWaterLevel = 1 << 7; - private const int m_knownChangedForwardVelocity = 1 << 8; - - private void ForgetKnownVehicleProperties() - { - m_knownHas = 0; - m_knownChanged = 0; - } - // Push all the changed values back into the physics engine - private void PushKnownChanged() - { - if (m_knownChanged != 0) - { - if ((m_knownChanged & m_knownChangedPosition) != 0) - Prim.ForcePosition = m_knownPosition; - - if ((m_knownChanged & m_knownChangedOrientation) != 0) - Prim.ForceOrientation = m_knownOrientation; - - if ((m_knownChanged & m_knownChangedVelocity) != 0) - { - Prim.ForceVelocity = m_knownVelocity; - BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); - } - - if ((m_knownChanged & m_knownChangedForce) != 0) - Prim.AddForce((Vector3)m_knownForce, false, true); - - if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) - { - Prim.ForceRotationalVelocity = m_knownRotationalVelocity; - // Fake out Bullet by making it think the velocity is the same as last time. - BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity); - } - - if ((m_knownChanged & m_knownChangedRotationalForce) != 0) - Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true); - - // If we set one of the values (ie, the physics engine didn't do it) we must force - // an UpdateProperties event to send the changes up to the simulator. - BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); - } - m_knownChanged = 0; - } - - // Since the computation of terrain height can be a little involved, this routine - // is used to fetch the height only once for each vehicle simulation step. - private float GetTerrainHeight(Vector3 pos) - { - if ((m_knownHas & m_knownChangedTerrainHeight) == 0) - { - m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); - m_knownHas |= m_knownChangedTerrainHeight; - } - return m_knownTerrainHeight; - } - - // Since the computation of water level can be a little involved, this routine - // is used ot fetch the level only once for each vehicle simulation step. - private float GetWaterLevel(Vector3 pos) - { - if ((m_knownHas & m_knownChangedWaterLevel) == 0) - { - m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); - m_knownHas |= m_knownChangedWaterLevel; - } - return (float)m_knownWaterLevel; - } - - private Vector3 VehiclePosition - { - get - { - if ((m_knownHas & m_knownChangedPosition) == 0) - { - m_knownPosition = Prim.ForcePosition; - m_knownHas |= m_knownChangedPosition; - } - return m_knownPosition; - } - set - { - m_knownPosition = value; - m_knownChanged |= m_knownChangedPosition; - m_knownHas |= m_knownChangedPosition; - } - } - - private Quaternion VehicleOrientation - { - get - { - if ((m_knownHas & m_knownChangedOrientation) == 0) - { - m_knownOrientation = Prim.ForceOrientation; - m_knownHas |= m_knownChangedOrientation; - } - return m_knownOrientation; - } - set - { - m_knownOrientation = value; - m_knownChanged |= m_knownChangedOrientation; - m_knownHas |= m_knownChangedOrientation; - } - } - - private Vector3 VehicleVelocity - { - get - { - if ((m_knownHas & m_knownChangedVelocity) == 0) - { - m_knownVelocity = Prim.ForceVelocity; - m_knownHas |= m_knownChangedVelocity; - } - return (Vector3)m_knownVelocity; - } - set - { - m_knownVelocity = value; - m_knownChanged |= m_knownChangedVelocity; - m_knownHas |= m_knownChangedVelocity; - } - } - - private void VehicleAddForce(Vector3 aForce) - { - if ((m_knownHas & m_knownChangedForce) == 0) - { - m_knownForce = Vector3.Zero; - } - m_knownForce += aForce; - m_knownChanged |= m_knownChangedForce; - m_knownHas |= m_knownChangedForce; - } - - private Vector3 VehicleRotationalVelocity - { - get - { - if ((m_knownHas & m_knownChangedRotationalVelocity) == 0) - { - m_knownRotationalVelocity = Prim.ForceRotationalVelocity; - m_knownHas |= m_knownChangedRotationalVelocity; - } - return (Vector3)m_knownRotationalVelocity; - } - set - { - m_knownRotationalVelocity = value; - m_knownChanged |= m_knownChangedRotationalVelocity; - m_knownHas |= m_knownChangedRotationalVelocity; - } - } - private void VehicleAddAngularForce(Vector3 aForce) - { - if ((m_knownHas & m_knownChangedRotationalForce) == 0) - { - m_knownRotationalForce = Vector3.Zero; - } - m_knownRotationalForce += aForce; - m_knownChanged |= m_knownChangedRotationalForce; - m_knownHas |= m_knownChangedRotationalForce; - } - // Vehicle relative forward velocity - private Vector3 VehicleForwardVelocity - { - get - { - if ((m_knownHas & m_knownChangedForwardVelocity) == 0) - { - m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); - m_knownHas |= m_knownChangedForwardVelocity; - } - return m_knownForwardVelocity; - } - } - private float VehicleForwardSpeed - { - get - { - return VehicleForwardVelocity.X; - } - } - - #endregion // Known vehicle value functions - - // One step of the vehicle properties for the next 'pTimestep' seconds. - internal void Step(float pTimestep) - { - if (!IsActive) return; - - ForgetKnownVehicleProperties(); - - MoveLinear(pTimestep); - MoveAngular(pTimestep); - - LimitRotation(pTimestep); - - // remember the position so next step we can limit absolute movement effects - m_lastPositionVector = VehiclePosition; - - // If we forced the changing of some vehicle parameters, update the values and - // for the physics engine to note the changes so an UpdateProperties event will happen. - PushKnownChanged(); - - VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", - Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); - } - - // Apply the effect of the linear motor and other linear motions (like hover and float). - private void MoveLinear(float pTimestep) - { - Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep); - - // The movement computed in the linear motor is relative to the vehicle - // coordinates. Rotate the movement to world coordinates. - linearMotorContribution *= VehicleOrientation; - - // ================================================================== - // Buoyancy: force to overcome gravity. - // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - // So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity. - Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy; - - Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep); - - Vector3 hoverContribution = ComputeLinearHover(pTimestep); - - ComputeLinearBlockingEndPoint(pTimestep); - - Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep); - - // ================================================================== - Vector3 newVelocity = linearMotorContribution - + terrainHeightContribution - + hoverContribution - + limitMotorUpContribution; - - Vector3 newForce = buoyancyContribution; - - // If not changing some axis, reduce out velocity - if ((m_flags & (VehicleFlag.NO_X)) != 0) - newVelocity.X = 0; - if ((m_flags & (VehicleFlag.NO_Y)) != 0) - newVelocity.Y = 0; - if ((m_flags & (VehicleFlag.NO_Z)) != 0) - newVelocity.Z = 0; - - // ================================================================== - // Clamp high or low velocities - float newVelocityLengthSq = newVelocity.LengthSquared(); - if (newVelocityLengthSq > 1000f) - { - newVelocity /= newVelocity.Length(); - newVelocity *= 1000f; - } - else if (newVelocityLengthSq < 0.001f) - newVelocity = Vector3.Zero; - - // ================================================================== - // Stuff new linear velocity into the vehicle. - // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us. - VehicleVelocity = newVelocity; - - // Other linear forces are applied as forces. - Vector3 totalDownForce = newForce * m_vehicleMass; - if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f)) - { - VehicleAddForce(totalDownForce); - } - - VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},IsColliding={3}", - Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding); - VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}", - Prim.LocalID, - linearMotorContribution, terrainHeightContribution, hoverContribution, - limitMotorUpContribution, buoyancyContribution - ); - - } // end MoveLinear() - - public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep) - { - Vector3 ret = Vector3.Zero; - // If below the terrain, move us above the ground a little. - // TODO: Consider taking the rotated size of the object or possibly casting a ray. - if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition)) - { - // TODO: correct position by applying force rather than forcing position. - Vector3 newPosition = VehiclePosition; - newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f; - VehiclePosition = newPosition; - VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", - Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); - } - return ret; - } - - public Vector3 ComputeLinearHover(float pTimestep) - { - Vector3 ret = Vector3.Zero; - - // m_VhoverEfficiency: 0=bouncy, 1=totally damped - // m_VhoverTimescale: time to achieve height - if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) - { - // We should hover, get the target height - if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) - { - m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight; - } - if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) - { - m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight; - } - if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) - { - m_VhoverTargetHeight = m_VhoverHeight; - } - - if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) - { - // If body is already heigher, use its height as target height - if (VehiclePosition.Z > m_VhoverTargetHeight) - m_VhoverTargetHeight = VehiclePosition.Z; - } - - if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) - { - if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f) - { - Vector3 pos = VehiclePosition; - pos.Z = m_VhoverTargetHeight; - VehiclePosition = pos; - } - } - else - { - // Error is positive if below the target and negative if above. - float verticalError = m_VhoverTargetHeight - VehiclePosition.Z; - float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; - - // TODO: implement m_VhoverEfficiency correctly - if (Math.Abs(verticalError) > m_VhoverEfficiency) - { - ret = new Vector3(0f, 0f, verticalCorrectionVelocity); - } - } - - VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}", - Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight); - } - - return ret; - } - - public bool ComputeLinearBlockingEndPoint(float pTimestep) - { - bool changed = false; - - Vector3 pos = VehiclePosition; - Vector3 posChange = pos - m_lastPositionVector; - if (m_BlockingEndPoint != Vector3.Zero) - { - if (pos.X >= (m_BlockingEndPoint.X - (float)1)) - { - pos.X -= posChange.X + 1; - changed = true; - } - if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) - { - pos.Y -= posChange.Y + 1; - changed = true; - } - if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) - { - pos.Z -= posChange.Z + 1; - changed = true; - } - if (pos.X <= 0) - { - pos.X += posChange.X + 1; - changed = true; - } - if (pos.Y <= 0) - { - pos.Y += posChange.Y + 1; - changed = true; - } - if (changed) - { - VehiclePosition = pos; - VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", - Prim.LocalID, m_BlockingEndPoint, posChange, pos); - } - } - return changed; - } - - // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : - // Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when - // used with conjunction with banking: the strength of the banking will decay when the - // vehicle no longer experiences collisions. The decay timescale is the same as - // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering - // when they are in mid jump. - // TODO: this code is wrong. Also, what should it do for boats (height from water)? - // This is just using the ground and a general collision check. Should really be using - // a downward raycast to find what is below. - public Vector3 ComputeLinearMotorUp(float pTimestep) - { - Vector3 ret = Vector3.Zero; - float distanceAboveGround = 0f; - - if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) - { - float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); - distanceAboveGround = VehiclePosition.Z - targetHeight; - // Not colliding if the vehicle is off the ground - if (!Prim.IsColliding) - { - // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); - ret = new Vector3(0, 0, -distanceAboveGround); - } - // TODO: this calculation is wrong. From the description at - // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce - // has a decay factor. This says this force should - // be computed with a motor. - // TODO: add interaction with banking. - } - VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", - Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); - return ret; - } - - // ======================================================================= - // ======================================================================= - // Apply the effect of the angular motor. - // The 'contribution' is how much angular correction velocity each function wants. - // All the contributions are added together and the resulting velocity is - // set directly on the vehicle. - private void MoveAngular(float pTimestep) - { - // The user wants this many radians per second angular change? - Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); - - // ================================================================== - // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : - // This flag prevents linear deflection parallel to world z-axis. This is useful - // for preventing ground vehicles with large linear deflection, like bumper cars, - // from climbing their linear deflection into the sky. - // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement - if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) - { - angularMotorContribution.X = 0f; - angularMotorContribution.Y = 0f; - VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); - } - - Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(); - - Vector3 deflectionContribution = ComputeAngularDeflection(); - - Vector3 bankingContribution = ComputeAngularBanking(); - - // ================================================================== - m_lastVertAttractor = verticalAttractionContribution; - - m_lastAngularVelocity = angularMotorContribution - + verticalAttractionContribution - + deflectionContribution - + bankingContribution; - - // ================================================================== - // Apply the correction velocity. - // TODO: Should this be applied as an angular force (torque)? - if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) - { - VehicleRotationalVelocity = m_lastAngularVelocity; - - VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}", - Prim.LocalID, - angularMotorContribution, verticalAttractionContribution, - bankingContribution, deflectionContribution, - m_lastAngularVelocity - ); - } - else - { - // The vehicle is not adding anything angular wise. - VehicleRotationalVelocity = Vector3.Zero; - VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); - } - - // ================================================================== - //Offset section - if (m_linearMotorOffset != Vector3.Zero) - { - //Offset of linear velocity doesn't change the linear velocity, - // but causes a torque to be applied, for example... - // - // IIIII >>> IIIII - // IIIII >>> IIIII - // IIIII >>> IIIII - // ^ - // | Applying a force at the arrow will cause the object to move forward, but also rotate - // - // - // The torque created is the linear velocity crossed with the offset - - // TODO: this computation should be in the linear section - // because that is where we know the impulse being applied. - Vector3 torqueFromOffset = Vector3.Zero; - // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse); - if (float.IsNaN(torqueFromOffset.X)) - torqueFromOffset.X = 0; - if (float.IsNaN(torqueFromOffset.Y)) - torqueFromOffset.Y = 0; - if (float.IsNaN(torqueFromOffset.Z)) - torqueFromOffset.Z = 0; - - VehicleAddAngularForce(torqueFromOffset * m_vehicleMass); - VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); - } - - } - // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: - // Some vehicles, like boats, should always keep their up-side up. This can be done by - // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to - // the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the - // VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency, - // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An - // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an - // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay. - public Vector3 ComputeAngularVerticalAttraction() - { - Vector3 ret = Vector3.Zero; - - // If vertical attaction timescale is reasonable - if (m_verticalAttractionTimescale < m_verticalAttractionCutoff) - { - // Take a vector pointing up and convert it from world to vehicle relative coords. - Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; - - // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) - // is now: - // leaning to one side: rotated around the X axis with the Y value going - // from zero (nearly straight up) to one (completely to the side)) or - // leaning front-to-back: rotated around the Y axis with the value of X being between - // zero and one. - // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees. - - // Y error means needed rotation around X axis and visa versa. - // Since the error goes from zero to one, the asin is the corresponding angle. - ret.X = (float)Math.Asin(verticalError.Y); - // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) - ret.Y = -(float)Math.Asin(verticalError.X); - - // If verticalError.Z is negative, the vehicle is upside down. Add additional push. - if (verticalError.Z < 0f) - { - ret.X += PIOverFour; - ret.Y += PIOverFour; - } - - // 'ret' is now the necessary velocity to correct tilt in one second. - // Correction happens over a number of seconds. - Vector3 unscaledContrib = ret; - ret /= m_verticalAttractionTimescale; - - VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", - Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret); - } - return ret; - } - - // Return the angular correction to correct the direction the vehicle is pointing to be - // the direction is should want to be pointing. - // The vehicle is moving in some direction and correct its orientation to it is pointing - // in that direction. - // TODO: implement reference frame. - public Vector3 ComputeAngularDeflection() - { - Vector3 ret = Vector3.Zero; - return ret; // DEBUG DEBUG DEBUG - // Disable angular deflection for the moment. - // Since angularMotorUp and angularDeflection are computed independently, they will calculate - // approximately the same X or Y correction. When added together (when contributions are combined) - // this creates an over-correction and then wabbling as the target is overshot. - // TODO: rethink how the different correction computations inter-relate. - - if (m_angularDeflectionEfficiency != 0) - { - // The direction the vehicle is moving - Vector3 movingDirection = VehicleVelocity; - movingDirection.Normalize(); - - // The direction the vehicle is pointing - Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; - pointingDirection.Normalize(); - - // The difference between what is and what should be. - Vector3 deflectionError = movingDirection - pointingDirection; - - // Don't try to correct very large errors (not our job) - if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f; - if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f; - if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f; - - // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); - - // Scale the correction by recovery timescale and efficiency - ret = (-deflectionError) * m_angularDeflectionEfficiency; - ret /= m_angularDeflectionTimescale; - - VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", - Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret); - VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", - Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); - } - return ret; - } - - // Return an angular change to rotate the vehicle around the Z axis when the vehicle - // is tipped around the X axis. - // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: - // The vertical attractor feature must be enabled in order for the banking behavior to - // function. The way banking works is this: a rotation around the vehicle's roll-axis will - // produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude - // of the yaw effect will be proportional to the - // VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's - // velocity along its preferred axis of motion. - // The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any - // positive rotation (by the right-hand rule) about the roll-axis will effect a - // (negative) torque around the yaw-axis, making it turn to the right--that is the - // vehicle will lean into the turn, which is how real airplanes and motorcycle's work. - // Negating the banking coefficient will make it so that the vehicle leans to the - // outside of the turn (not very "physical" but might allow interesting vehicles so why not?). - // The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making - // banking vehicles do what you want rather than what the laws of physics allow. - // For example, consider a real motorcycle...it must be moving forward in order for - // it to turn while banking, however video-game motorcycles are often configured - // to turn in place when at a dead stop--because they are often easier to control - // that way using the limited interface of the keyboard or game controller. The - // VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic - // banking by functioning as a slider between a banking that is correspondingly - // totally static (0.0) and totally dynamic (1.0). By "static" we mean that the - // banking effect depends only on the vehicle's rotation about its roll-axis compared - // to "dynamic" where the banking is also proportional to its velocity along its - // roll-axis. Finding the best value of the "mixture" will probably require trial and error. - // The time it takes for the banking behavior to defeat a preexisting angular velocity about the - // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to - // bank quickly then give it a banking timescale of about a second or less, otherwise you can - // make a sluggish vehicle by giving it a timescale of several seconds. - public Vector3 ComputeAngularBanking() - { - Vector3 ret = Vector3.Zero; - - if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) - { - // This works by rotating a unit vector to the orientation of the vehicle. The - // roll (tilt) will be Y component of a tilting Z vector (zero for no tilt - // up to one for full over). - Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; - - // Figure out the yaw value for this much roll. - float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency; - // Keep the sign - if (rollComponents.Y < 0f) - turnComponent = -turnComponent; - - // TODO: there must be a better computation of the banking force. - float bankingTurnForce = turnComponent; - - // actual error = static turn error + dynamic turn error - float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed; - // TODO: the banking effect should not go to infinity but what to limit it to? - mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f); - - // Build the force vector to change rotation from what it is to what it should be - ret.Z = -mixedBankingError; - - // Don't do it all at once. - ret /= m_bankingTimescale; - - VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}", - Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret); - } - return ret; - } - - // This is from previous instantiations of XXXDynamics.cs. - // Applies roll reference frame. - // TODO: is this the right way to separate the code to do this operation? - // Should this be in MoveAngular()? - internal void LimitRotation(float timestep) - { - Quaternion rotq = VehicleOrientation; - Quaternion m_rot = rotq; - if (m_RollreferenceFrame != Quaternion.Identity) - { - if (rotq.X >= m_RollreferenceFrame.X) - { - m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); - } - if (rotq.Y >= m_RollreferenceFrame.Y) - { - m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); - } - if (rotq.X <= -m_RollreferenceFrame.X) - { - m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); - } - if (rotq.Y <= -m_RollreferenceFrame.Y) - { - m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); - } - } - if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) - { - m_rot.X = 0; - m_rot.Y = 0; - } - if (rotq != m_rot) - { - VehicleOrientation = m_rot; - VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); - } - - } - - private float ClampInRange(float low, float val, float high) - { - return Math.Max(low, Math.Min(val, high)); - // return Utils.Clamp(val, low, high); - } - - // Invoke the detailed logger and output something if it's enabled. - private void VDetailLog(string msg, params Object[] args) - { - if (Prim.PhysicsScene.VehicleLoggingEnabled) - Prim.PhysicsScene.DetailLog(msg, args); - } - } -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs deleted file mode 100644 index 845a113..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs +++ /dev/null @@ -1,329 +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 -{ - -// A BSPrim can get individual information about its linkedness attached -// to it through an instance of a subclass of LinksetInfo. -// Each type of linkset will define the information needed for its type. -public abstract class BSLinksetInfo -{ - public virtual void Clear() { } -} - -public abstract class BSLinkset -{ - // private static string LogHeader = "[BULLETSIM LINKSET]"; - - public enum LinksetImplementation - { - Constraint = 0, // linkset tied together with constraints - Compound = 1, // linkset tied together as a compound object - Manual = 2 // linkset tied together manually (code moves all the pieces) - } - // Create the correct type of linkset for this child - public static BSLinkset Factory(BSScene physScene, BSPhysObject parent) - { - BSLinkset ret = null; - - switch ((int)BSParam.LinksetImplementation) - { - case (int)LinksetImplementation.Constraint: - ret = new BSLinksetConstraints(physScene, parent); - break; - case (int)LinksetImplementation.Compound: - ret = new BSLinksetCompound(physScene, parent); - break; - case (int)LinksetImplementation.Manual: - // ret = new BSLinksetManual(physScene, parent); - break; - default: - ret = new BSLinksetCompound(physScene, parent); - break; - } - return ret; - } - - public BSPhysObject LinksetRoot { get; protected set; } - - public BSScene PhysicsScene { get; private set; } - - static int m_nextLinksetID = 1; - public int LinksetID { get; private set; } - - // The children under the root in this linkset. - protected HashSet m_children; - - // We lock the diddling of linkset classes to prevent any badness. - // This locks the modification of the instances of this class. Changes - // to the physical representation is done via the tainting mechenism. - protected object m_linksetActivityLock = new Object(); - - // Some linksets have a preferred physical shape. - // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected. - public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) - { - return BSPhysicsShapeType.SHAPE_UNKNOWN; - } - - // We keep the prim's mass in the linkset structure since it could be dependent on other prims - public float LinksetMass { get; protected set; } - - public virtual bool LinksetIsColliding { get { return false; } } - - public OMV.Vector3 CenterOfMass - { - get { return ComputeLinksetCenterOfMass(); } - } - - public OMV.Vector3 GeometricCenter - { - get { return ComputeLinksetGeometricCenter(); } - } - - protected BSLinkset(BSScene scene, BSPhysObject parent) - { - // A simple linkset of one (no children) - LinksetID = m_nextLinksetID++; - // We create LOTS of linksets. - if (m_nextLinksetID <= 0) - m_nextLinksetID = 1; - PhysicsScene = scene; - LinksetRoot = parent; - m_children = new HashSet(); - LinksetMass = parent.RawMass; - Rebuilding = false; - } - - // Link to a linkset where the child knows the parent. - // Parent changing should not happen so do some sanity checking. - // We return the parent's linkset so the child can track its membership. - // Called at runtime. - public BSLinkset AddMeToLinkset(BSPhysObject child) - { - lock (m_linksetActivityLock) - { - // Don't add the root to its own linkset - if (!IsRoot(child)) - AddChildToLinkset(child); - LinksetMass = ComputeLinksetMass(); - } - return this; - } - - // Remove a child from a linkset. - // Returns a new linkset for the child which is a linkset of one (just the - // orphened child). - // Called at runtime. - public BSLinkset RemoveMeFromLinkset(BSPhysObject child) - { - lock (m_linksetActivityLock) - { - if (IsRoot(child)) - { - // Cannot remove the root from a linkset. - return this; - } - RemoveChildFromLinkset(child); - LinksetMass = ComputeLinksetMass(); - } - - // The child is down to a linkset of just itself - return BSLinkset.Factory(PhysicsScene, child); - } - - // Return 'true' if the passed object is the root object of this linkset - public bool IsRoot(BSPhysObject requestor) - { - return (requestor.LocalID == LinksetRoot.LocalID); - } - - public int NumberOfChildren { get { return m_children.Count; } } - - // Return 'true' if this linkset has any children (more than the root member) - public bool HasAnyChildren { get { return (m_children.Count > 0); } } - - // Return 'true' if this child is in this linkset - public bool HasChild(BSPhysObject child) - { - bool ret = false; - lock (m_linksetActivityLock) - { - ret = m_children.Contains(child); - /* Safer version but the above should work - foreach (BSPhysObject bp in m_children) - { - if (child.LocalID == bp.LocalID) - { - ret = true; - break; - } - } - */ - } - return ret; - } - - // Perform an action on each member of the linkset including root prim. - // Depends on the action on whether this should be done at taint time. - public delegate bool ForEachMemberAction(BSPhysObject obj); - public virtual bool ForEachMember(ForEachMemberAction action) - { - bool ret = false; - lock (m_linksetActivityLock) - { - action(LinksetRoot); - foreach (BSPhysObject po in m_children) - { - if (action(po)) - break; - } - } - 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); - - // 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. - public virtual void Refresh(BSPhysObject requestor) - { - LinksetMass = ComputeLinksetMass(); - } - - // Flag denoting the linkset is in the process of being rebuilt. - // Used to know not the schedule a rebuild in the middle of a rebuild. - protected bool Rebuilding { get; set; } - - // 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 abstract bool MakeDynamic(BSPhysObject child); - - // 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. - // Called at taint-time! - public abstract bool MakeStatic(BSPhysObject child); - - // Called when a parameter update comes from the physics engine for any object - // of the linkset is received. - // Passed flag is update came from physics engine (true) or the user (false). - // Called at taint-time!! - public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate); - - // Routine used when rebuilding the body of the root of the linkset - // Destroy all the constraints have have been made to root. - // This is called when the root body is changing. - // Returns 'true' of something was actually removed and would need restoring - // Called at taint-time!! - public abstract bool RemoveBodyDependencies(BSPrim child); - - // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', - // this routine will restore the removed constraints. - // Called at taint-time!! - public abstract void RestoreBodyDependencies(BSPrim child); - - // ================================================================ - protected virtual float ComputeLinksetMass() - { - float mass = LinksetRoot.RawMass; - if (HasAnyChildren) - { - lock (m_linksetActivityLock) - { - foreach (BSPhysObject bp in m_children) - { - mass += bp.RawMass; - } - } - } - return mass; - } - - protected virtual OMV.Vector3 ComputeLinksetCenterOfMass() - { - OMV.Vector3 com; - lock (m_linksetActivityLock) - { - com = LinksetRoot.Position * LinksetRoot.RawMass; - float totalMass = LinksetRoot.RawMass; - - foreach (BSPhysObject bp in m_children) - { - com += bp.Position * bp.RawMass; - totalMass += bp.RawMass; - } - if (totalMass != 0f) - com /= totalMass; - } - - return com; - } - - protected virtual OMV.Vector3 ComputeLinksetGeometricCenter() - { - OMV.Vector3 com; - lock (m_linksetActivityLock) - { - com = LinksetRoot.Position; - - foreach (BSPhysObject bp in m_children) - { - com += bp.Position * bp.RawMass; - } - com /= (m_children.Count + 1); - } - - return com; - } - - // Invoke the detailed logger and output something if it's enabled. - protected void DetailLog(string msg, params Object[] args) - { - if (PhysicsScene.PhysicsLogging.Enabled) - PhysicsScene.DetailLog(msg, args); - } - -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs deleted file mode 100644 index 9a977e6..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs +++ /dev/null @@ -1,397 +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 OpenSim.Framework; - -using OMV = OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - -// When a child is linked, the relationship position of the child to the parent -// is remembered so the child's world position can be recomputed when it is -// removed from the linkset. -sealed class BSLinksetCompoundInfo : BSLinksetInfo -{ - public OMV.Vector3 OffsetPos; - public OMV.Quaternion OffsetRot; - public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r) - { - OffsetPos = p; - OffsetRot = r; - } - public override void Clear() - { - OffsetPos = OMV.Vector3.Zero; - OffsetRot = OMV.Quaternion.Identity; - } - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -}; - -public sealed class BSLinksetCompound : BSLinkset -{ - private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; - - public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent) - { - } - - // For compound implimented linksets, if there are children, use compound shape for the root. - public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) - { - // Returning 'unknown' means we don't have a preference. - BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - if (IsRoot(requestor) && HasAnyChildren) - { - ret = BSPhysicsShapeType.SHAPE_COMPOUND; - } - // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret); - return ret; - } - - // When physical properties are changed the linkset needs to recalculate - // its internal properties. - public override void Refresh(BSPhysObject requestor) - { - base.Refresh(requestor); - - // Something changed so do the rebuilding thing - // ScheduleRebuild(); - } - - // Schedule a refresh to happen after all the other taint processing. - private void ScheduleRebuild(BSPhysObject requestor) - { - DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}", - requestor.LocalID, Rebuilding); - // When rebuilding, it is possible to set properties that would normally require a rebuild. - // If already rebuilding, don't request another rebuild. - if (!Rebuilding) - { - PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() - { - if (HasAnyChildren) - RecomputeLinksetCompound(); - }); - } - } - - // 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) - { - bool ret = false; - DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); - if (IsRoot(child)) - { - // The root is going dynamic. Make sure mass is properly set. - ScheduleRebuild(LinksetRoot); - } - else - { - // The origional prims are removed from the world as the shape of the root compound - // shape takes over. - BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); - // We don't want collisions from the old linkset children. - BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - - child.PhysBody.collisionType = CollisionType.LinksetChild; - - ret = true; - } - return ret; - } - - // 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) - { - bool ret = false; - DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); - if (IsRoot(child)) - { - ScheduleRebuild(LinksetRoot); - } - else - { - // The non-physical children can come back to life. - BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - - child.PhysBody.collisionType = CollisionType.LinksetChild; - - // Don't force activation so setting of DISABLE_SIMULATION can stay if used. - BulletSimAPI.Activate2(child.PhysBody.ptr, false); - ret = true; - } - return ret; - } - - public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate) - { - // The user moving a child around requires the rebuilding of the linkset compound shape - // One problem is this happens when a border is crossed -- the simulator implementation - // is to store the position into the group which causes the move of the object - // but it also means all the child positions get updated. - // What would cause an unnecessary rebuild so we make sure the linkset is in a - // region before bothering to do a rebuild. - if (!IsRoot(updated) - && !physicalUpdate - && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) - { - updated.LinksetInfo = null; - ScheduleRebuild(updated); - } - } - - // Routine called when rebuilding the body of some member of the linkset. - // Since we don't keep in world relationships, do nothing unless it's a child changing. - // 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},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), IsRoot(child)); - - if (!IsRoot(child)) - { - // Because it is a convenient time, recompute child world position and rotation based on - // its position in the linkset. - RecomputeChildWorldPosition(child, true); - } - - // Cannot schedule a refresh/rebuild here because this routine is called when - // the linkset is being rebuilt. - // InternalRefresh(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) - { - } - - // When the linkset is built, the child shape is added to the compound shape relative to the - // root shape. The linkset then moves around but this does not move the actual child - // prim. The child prim's location must be recomputed based on the location of the root shape. - private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) - { - BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; - if (lci != null) - { - if (inTaintTime) - { - OMV.Vector3 oldPos = child.RawPosition; - child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos; - child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot; - DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}", - child.LocalID, oldPos, lci, child.RawPosition); - } - else - { - // TaintedObject is not used here so the raw position is set now and not at taint-time. - child.Position = LinksetRoot.RawPosition + lci.OffsetPos; - child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot; - } - } - else - { - // This happens when children have been added to the linkset but the linkset - // has not been constructed yet. So like, at taint time, adding children to a linkset - // and then changing properties of the children (makePhysical, for instance) - // but the post-print action of actually rebuilding the linkset has not yet happened. - // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}", - // LogHeader, child.LocalID); - DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID); - } - } - - // ================================================================ - - // 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},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); - - // Rebuild the compound shape with the new child shape included - ScheduleRebuild(child); - } - return; - } - - // Remove the specified child from the linkset. - // Safe to call even if the child is not really in the linkset. - protected override void RemoveChildFromLinkset(BSPhysObject child) - { - if (m_children.Remove(child)) - { - DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", - child.LocalID, - LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), - child.LocalID, child.PhysBody.ptr.ToString()); - - // Cause the child's body to be rebuilt and thus restored to normal operation - RecomputeChildWorldPosition(child, false); - child.ForceBodyShapeRebuild(false); - - if (!HasAnyChildren) - { - // The linkset is now empty. The root needs rebuilding. - LinksetRoot.ForceBodyShapeRebuild(false); - } - else - { - // Rebuild the compound shape with the child removed - ScheduleRebuild(child); - } - } - return; - } - - // Called before the simulation step to make sure the compound based linkset - // is all initialized. - // Constraint linksets are rebuilt every time. - // Note that this works for rebuilding just the root after a linkset is taken apart. - // Called at taint time!! - private void RecomputeLinksetCompound() - { - try - { - // Suppress rebuilding while rebuilding - Rebuilding = true; - - // Cause the root shape to be rebuilt as a compound object with just the root in it - LinksetRoot.ForceBodyShapeRebuild(true); - - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", - LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); - - // Add a shape for each of the other children in the linkset - ForEachMember(delegate(BSPhysObject cPrim) - { - if (!IsRoot(cPrim)) - { - // Compute the displacement of the child from the root of the linkset. - // This info is saved in the child prim so the relationship does not - // change over time and the new child position can be computed - // when the linkset is being disassembled (the linkset may have moved). - BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; - if (lci == null) - { - // Each child position and rotation is given relative to the root. - OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); - OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; - OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; - - // Save relative position for recomputing child's world position after moving linkset. - lci = new BSLinksetCompoundInfo(displacementPos, displacementRot); - cPrim.LinksetInfo = lci; - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); - } - - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", - LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); - - if (cPrim.PhysShape.isNativeShape) - { - // A native shape is turning into a hull collision shape because native - // shapes are not shared so we have to hullify it so it will be tracked - // and freed at the correct time. This also solves the scaling problem - // (native shapes scaled but hull/meshes are assumed to not be). - // TODO: decide of the native shape can just be used in the compound shape. - // Use call to CreateGeomNonSpecial(). - BulletShape saveShape = cPrim.PhysShape; - cPrim.PhysShape.Clear(); // Don't let the create free the child's shape - // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null); - PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); - BulletShape newShape = cPrim.PhysShape; - cPrim.PhysShape = saveShape; - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot); - } - else - { - // For the shared shapes (meshes and hulls), just use the shape in the child. - // The reference count added here will be decremented when the compound shape - // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced). - if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) - { - PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", - LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); - } - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot); - } - } - return false; // 'false' says to move onto the next child in the list - }); - - // With all of the linkset packed into the root prim, it has the mass of everyone. - LinksetMass = LinksetMass; - LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); - } - finally - { - Rebuilding = false; - } - - BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr); - - // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets. - // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - - } -} -} \ No newline at end of file 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 - } - - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs deleted file mode 100644 index d7941b6..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs +++ /dev/null @@ -1,200 +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 System.Reflection; -using Nini.Config; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - -public struct MaterialAttributes -{ - // Material type values that correspond with definitions for LSL - public enum Material : int - { - Stone = 0, - Metal, - Glass, - Wood, - Flesh, - Plastic, - Rubber, - Light, - // Hereafter are BulletSim additions - Avatar, - NumberOfTypes // the count of types in the enum. - } - - // Names must be in the order of the above enum. - // These names must coorespond to the lower case field names in the MaterialAttributes - // structure as reflection is used to select the field to put the value in. - public static readonly string[] MaterialAttribs = { "Density", "Friction", "Restitution"}; - - public MaterialAttributes(string t, float d, float f, float r) - { - type = t; - density = d; - friction = f; - restitution = r; - } - public string type; - public float density; - public float friction; - public float restitution; -} - -public static class BSMaterials -{ - // Attributes for each material type - private static readonly MaterialAttributes[] Attributes; - - // Map of material name to material type code - public static readonly Dictionary MaterialMap; - - static BSMaterials() - { - // Attribute sets for both the non-physical and physical instances of materials. - Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2]; - - // Map of name to type code. - MaterialMap = new Dictionary(); - MaterialMap.Add("Stone", MaterialAttributes.Material.Stone); - MaterialMap.Add("Metal", MaterialAttributes.Material.Metal); - MaterialMap.Add("Glass", MaterialAttributes.Material.Glass); - MaterialMap.Add("Wood", MaterialAttributes.Material.Wood); - MaterialMap.Add("Flesh", MaterialAttributes.Material.Flesh); - MaterialMap.Add("Plastic", MaterialAttributes.Material.Plastic); - MaterialMap.Add("Rubber", MaterialAttributes.Material.Rubber); - MaterialMap.Add("Light", MaterialAttributes.Material.Light); - MaterialMap.Add("Avatar", MaterialAttributes.Material.Avatar); - } - - // This is where all the default material attributes are defined. - public static void InitializeFromDefaults(ConfigurationParameters parms) - { - // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL - float dDensity = parms.defaultDensity; - float dFriction = parms.defaultFriction; - float dRestitution = parms.defaultRestitution; - Attributes[(int)MaterialAttributes.Material.Stone] = - new MaterialAttributes("stone",dDensity, 0.8f, 0.4f); - Attributes[(int)MaterialAttributes.Material.Metal] = - new MaterialAttributes("metal",dDensity, 0.3f, 0.4f); - Attributes[(int)MaterialAttributes.Material.Glass] = - new MaterialAttributes("glass",dDensity, 0.2f, 0.7f); - Attributes[(int)MaterialAttributes.Material.Wood] = - new MaterialAttributes("wood",dDensity, 0.6f, 0.5f); - Attributes[(int)MaterialAttributes.Material.Flesh] = - new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f); - Attributes[(int)MaterialAttributes.Material.Plastic] = - new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f); - Attributes[(int)MaterialAttributes.Material.Rubber] = - new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f); - Attributes[(int)MaterialAttributes.Material.Light] = - new MaterialAttributes("light",dDensity, dFriction, dRestitution); - Attributes[(int)MaterialAttributes.Material.Avatar] = - new MaterialAttributes("avatar",3.5f, 0.2f, 0f); - - Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f); - Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f); - Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f); - Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f); - Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f); - Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f); - Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f); - Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution); - Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f); - } - - // Under the [BulletSim] section, one can change the individual material - // attribute values. The format of the configuration parameter is: - // ["Physical"] = floatValue - // For instance: - // [BulletSim] - // StoneFriction = 0.2 - // FleshRestitutionPhysical = 0.8 - // Materials can have different parameters for their static and - // physical instantiations. When setting the non-physical value, - // both values are changed. Setting the physical value only changes - // the physical value. - public static void InitializefromParameters(IConfig pConfig) - { - foreach (KeyValuePair kvp in MaterialMap) - { - string matName = kvp.Key; - foreach (string attribName in MaterialAttributes.MaterialAttribs) - { - string paramName = matName + attribName; - if (pConfig.Contains(paramName)) - { - float paramValue = pConfig.GetFloat(paramName); - SetAttributeValue((int)kvp.Value, attribName, paramValue); - // set the physical value also - SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); - } - paramName += "Physical"; - if (pConfig.Contains(paramName)) - { - float paramValue = pConfig.GetFloat(paramName); - SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); - } - } - } - } - - // Use reflection to set the value in the attribute structure. - private static void SetAttributeValue(int matType, string attribName, float val) - { - MaterialAttributes thisAttrib = Attributes[matType]; - FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower()); - if (fieldInfo != null) - { - fieldInfo.SetValue(thisAttrib, val); - Attributes[matType] = thisAttrib; - } - } - - // Given a material type, return a structure of attributes. - public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical) - { - int ind = (int)type; - if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes; - return Attributes[ind]; - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs deleted file mode 100644 index 7abc9b2..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs +++ /dev/null @@ -1,347 +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 copyright - * 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 OpenMetaverse; -using OpenSim.Framework; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ -public abstract class BSMotor -{ - // Timescales and other things can be turned off by setting them to 'infinite'. - public const float Infinite = 12345.6f; - public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite); - - public BSMotor(string useName) - { - UseName = useName; - PhysicsScene = null; - Enabled = true; - } - public virtual bool Enabled { get; set; } - public virtual void Reset() { } - public virtual void Zero() { } - public virtual void GenerateTestOutput(float timeStep) { } - - // A name passed at motor creation for easily identifyable debugging messages. - public string UseName { get; private set; } - - // Used only for outputting debug information. Might not be set so check for null. - public BSScene PhysicsScene { get; set; } - protected void MDetailLog(string msg, params Object[] parms) - { - if (PhysicsScene != null) - { - if (PhysicsScene.VehicleLoggingEnabled) - { - PhysicsScene.DetailLog(msg, parms); - } - } - } -} - -// Motor which moves CurrentValue to TargetValue over TimeScale seconds. -// The TargetValue decays in TargetValueDecayTimeScale and -// the CurrentValue will be held back by FrictionTimeScale. -// This motor will "zero itself" over time in that the targetValue will -// decay to zero and the currentValue will follow it to that zero. -// The overall effect is for the returned correction value to go from large -// values (the total difference between current and target minus friction) -// to small and eventually zero values. -// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay. - -// For instance, if something is moving at speed X and the desired speed is Y, -// CurrentValue is X and TargetValue is Y. As the motor is stepped, new -// values of CurrentValue are returned that approach the TargetValue. -// The feature of decaying TargetValue is so vehicles will eventually -// come to a stop rather than run forever. This can be disabled by -// setting TargetValueDecayTimescale to 'infinite'. -// The change from CurrentValue to TargetValue is linear over TimeScale seconds. -public class BSVMotor : BSMotor -{ - // public Vector3 FrameOfReference { get; set; } - // public Vector3 Offset { get; set; } - - public virtual float TimeScale { get; set; } - public virtual float TargetValueDecayTimeScale { get; set; } - public virtual Vector3 FrictionTimescale { get; set; } - public virtual float Efficiency { get; set; } - - public virtual float ErrorZeroThreshold { get; set; } - - public virtual Vector3 TargetValue { get; protected set; } - public virtual Vector3 CurrentValue { get; protected set; } - public virtual Vector3 LastError { get; protected set; } - - public virtual bool ErrorIsZero - { get { - return (LastError == Vector3.Zero || LastError.LengthSquared() <= ErrorZeroThreshold); - } - } - - public BSVMotor(string useName) - : base(useName) - { - TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite; - Efficiency = 1f; - FrictionTimescale = BSMotor.InfiniteVector; - CurrentValue = TargetValue = Vector3.Zero; - ErrorZeroThreshold = 0.001f; - } - public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) - : this(useName) - { - TimeScale = timeScale; - TargetValueDecayTimeScale = decayTimeScale; - FrictionTimescale = frictionTimeScale; - Efficiency = efficiency; - CurrentValue = TargetValue = Vector3.Zero; - } - public void SetCurrent(Vector3 current) - { - CurrentValue = current; - } - public void SetTarget(Vector3 target) - { - TargetValue = target; - } - public override void Zero() - { - base.Zero(); - CurrentValue = TargetValue = Vector3.Zero; - } - - // Compute the next step and return the new current value - public virtual Vector3 Step(float timeStep) - { - if (!Enabled) return TargetValue; - - Vector3 origTarget = TargetValue; // DEBUG - Vector3 origCurrVal = CurrentValue; // DEBUG - - Vector3 correction = Vector3.Zero; - Vector3 error = TargetValue - CurrentValue; - if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) - { - correction = Step(timeStep, error); - - CurrentValue += correction; - - // The desired value reduces to zero which also reduces the difference with current. - // If the decay time is infinite, don't decay at all. - float decayFactor = 0f; - if (TargetValueDecayTimeScale != BSMotor.Infinite) - { - decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; - TargetValue *= (1f - decayFactor); - } - - // The amount we can correct the error is reduced by the friction - Vector3 frictionFactor = Vector3.Zero; - if (FrictionTimescale != BSMotor.InfiniteVector) - { - // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; - // Individual friction components can be 'infinite' so compute each separately. - frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X); - frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y); - frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z); - frictionFactor *= timeStep; - CurrentValue *= (Vector3.One - frictionFactor); - } - - MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}", - BSScene.DetailLogZero, UseName, origCurrVal, origTarget, - timeStep, error, correction); - MDetailLog("{0}, BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}", - BSScene.DetailLogZero, UseName, - TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor, - TargetValue, CurrentValue); - } - else - { - // Difference between what we have and target is small. Motor is done. - CurrentValue = TargetValue; - MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", - BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); - } - - return CurrentValue; - } - public virtual Vector3 Step(float timeStep, Vector3 error) - { - if (!Enabled) return Vector3.Zero; - - LastError = error; - Vector3 returnCorrection = Vector3.Zero; - if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) - { - // correction = error / secondsItShouldTakeToCorrect - Vector3 correctionAmount; - if (TimeScale == 0f || TimeScale == BSMotor.Infinite) - correctionAmount = error * timeStep; - else - correctionAmount = error / TimeScale * timeStep; - - returnCorrection = correctionAmount; - MDetailLog("{0}, BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}", - BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount); - } - return returnCorrection; - } - - // The user sets all the parameters and calls this which outputs values until error is zero. - public override void GenerateTestOutput(float timeStep) - { - // maximum number of outputs to generate. - int maxOutput = 50; - MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName); - MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}", - BSScene.DetailLogZero, UseName, - TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, - CurrentValue, TargetValue); - - LastError = BSMotor.InfiniteVector; - while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) - { - Vector3 lastStep = Step(timeStep); - MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}", - BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep); - } - MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName); - - - } - - public override string ToString() - { - return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>", - UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale); - } -} - -public class BSFMotor : BSMotor -{ - public float TimeScale { get; set; } - public float DecayTimeScale { get; set; } - public float Friction { get; set; } - public float Efficiency { get; set; } - - public float Target { get; private set; } - public float CurrentValue { get; private set; } - - public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency) - : base(useName) - { - } - public void SetCurrent(float target) - { - } - public void SetTarget(float target) - { - } - public virtual float Step(float timeStep) - { - return 0f; - } -} - -// Proportional, Integral, Derivitive Motor -// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors. -public class BSPIDVMotor : BSVMotor -{ - // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10. - public Vector3 proportionFactor { get; set; } - public Vector3 integralFactor { get; set; } - public Vector3 derivFactor { get; set; } - - // Arbritrary factor range. - // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct. - public float EfficiencyHigh = 0.4f; - public float EfficiencyLow = 4.0f; - - // Running integration of the error - Vector3 RunningIntegration { get; set; } - - public BSPIDVMotor(string useName) - : base(useName) - { - proportionFactor = new Vector3(1.00f, 1.00f, 1.00f); - integralFactor = new Vector3(1.00f, 1.00f, 1.00f); - derivFactor = new Vector3(1.00f, 1.00f, 1.00f); - RunningIntegration = Vector3.Zero; - LastError = Vector3.Zero; - } - - public override void Zero() - { - base.Zero(); - } - - public override float Efficiency - { - get { return base.Efficiency; } - set - { - base.Efficiency = Util.Clamp(value, 0f, 1f); - // Compute factors based on efficiency. - // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot. - // If efficiency is low (0f), use a factor value that overcorrects. - // TODO: might want to vary contribution of different factor depending on efficiency. - float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f; - // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow; - proportionFactor = new Vector3(factor, factor, factor); - integralFactor = new Vector3(factor, factor, factor); - derivFactor = new Vector3(factor, factor, factor); - } - } - - // Ignore Current and Target Values and just advance the PID computation on this error. - public override Vector3 Step(float timeStep, Vector3 error) - { - if (!Enabled) return Vector3.Zero; - - // Add up the error so we can integrate over the accumulated errors - RunningIntegration += error * timeStep; - - // A simple derivitive is the rate of change from the last error. - Vector3 derivFactor = (error - LastError) * timeStep; - LastError = error; - - // Correction = -(proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError) - Vector3 ret = -( - error * proportionFactor - + RunningIntegration * integralFactor - + derivFactor * derivFactor - ); - - return ret; - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs deleted file mode 100644 index 5e93a03..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs +++ /dev/null @@ -1,559 +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 OpenSim.Region.Physics.Manager; - -using OpenMetaverse; -using Nini.Config; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ -public static class BSParam -{ - // Level of Detail values kept as float because that's what the Meshmerizer wants - public static float MeshLOD { get; private set; } - public static float MeshMegaPrimLOD { get; private set; } - public static float MeshMegaPrimThreshold { get; private set; } - public static float SculptLOD { get; private set; } - - public static float MinimumObjectMass { get; private set; } - public static float MaximumObjectMass { get; private set; } - - public static float LinearDamping { get; private set; } - public static float AngularDamping { get; private set; } - public static float DeactivationTime { get; private set; } - public static float LinearSleepingThreshold { get; private set; } - public static float AngularSleepingThreshold { get; private set; } - public static float CcdMotionThreshold { get; private set; } - public static float CcdSweptSphereRadius { get; private set; } - public static float ContactProcessingThreshold { get; private set; } - - public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed - public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes - public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects - - public static float TerrainImplementation { get; private set; } - public static float TerrainFriction { get; private set; } - public static float TerrainHitFraction { get; private set; } - public static float TerrainRestitution { get; private set; } - public static float TerrainCollisionMargin { get; private set; } - - // Avatar parameters - public static float AvatarFriction { get; private set; } - public static float AvatarStandingFriction { get; private set; } - public static float AvatarDensity { get; private set; } - public static float AvatarRestitution { get; private set; } - public static float AvatarCapsuleWidth { get; private set; } - public static float AvatarCapsuleDepth { get; private set; } - public static float AvatarCapsuleHeight { get; private set; } - public static float AvatarContactProcessingThreshold { get; private set; } - - public static float VehicleAngularDamping { get; private set; } - - public static float LinksetImplementation { get; private set; } - public static float LinkConstraintUseFrameOffset { get; private set; } - public static float LinkConstraintEnableTransMotor { get; private set; } - public static float LinkConstraintTransMotorMaxVel { get; private set; } - public static float LinkConstraintTransMotorMaxForce { get; private set; } - public static float LinkConstraintERP { get; private set; } - public static float LinkConstraintCFM { get; private set; } - public static float LinkConstraintSolverIterations { get; private set; } - - public static float PID_D { get; private set; } // derivative - public static float PID_P { get; private set; } // proportional - - public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); - public delegate float ParamGet(BSScene scene); - public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); - public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val); - - public struct ParameterDefn - { - public string name; // string name of the parameter - public string desc; // a short description of what the parameter means - public float defaultValue; // default value if not specified anywhere else - public ParamUser userParam; // get the value from the configuration file - public ParamGet getter; // return the current value stored for this parameter - public ParamSet setter; // set the current value for this parameter - public SetOnObject onObject; // set the value on an object in the physical domain - public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) - { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = null; - } - public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) - { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = o; - } - } - - // List of all of the externally visible parameters. - // For each parameter, this table maps a text name to getter and setters. - // To add a new externally referencable/settable parameter, add the paramter storage - // location somewhere in the program and make an entry in this table with the - // getters and setters. - // It is easiest to find an existing definition and copy it. - // Parameter values are floats. Booleans are converted to a floating value. - // - // A ParameterDefn() takes the following parameters: - // -- the text name of the parameter. This is used for console input and ini file. - // -- a short text description of the parameter. This shows up in the console listing. - // -- a default value (float) - // -- a delegate for fetching the parameter from the ini file. - // Should handle fetching the right type from the ini file and converting it. - // -- a delegate for getting the value as a float - // -- a delegate for setting the value from a float - // -- an optional delegate to update the value in the world. Most often used to - // push the new value to an in-world object. - // - // The single letter parameters for the delegates are: - // s = BSScene - // o = BSPhysObject - // p = string parameter name - // l = localID of referenced object - // v = value (float) - // cf = parameter configuration class (for fetching values from ini file) - private static ParameterDefn[] ParameterDefinitions = - { - new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, - (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); }, - (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ), - new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, - (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); }, - (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ), - new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, - (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); }, - (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ), - - new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", - 8f, - (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return MeshLOD; }, - (s,p,l,v) => { MeshLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", - 16f, - (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return MeshMegaPrimLOD; }, - (s,p,l,v) => { MeshMegaPrimLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", - 10f, - (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); }, - (s) => { return MeshMegaPrimThreshold; }, - (s,p,l,v) => { MeshMegaPrimThreshold = v; } ), - new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", - 32f, - (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return SculptLOD; }, - (s,p,l,v) => { SculptLOD = v; } ), - - new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", - 10f, - (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxSubSteps; }, - (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ), - new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)", - 1f / 60f, - (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, - (s) => { return (float)s.m_fixedTimeStep; }, - (s,p,l,v) => { s.m_fixedTimeStep = v; } ), - new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", - 2048f, - (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxCollisionsPerFrame; }, - (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), - new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", - 8000f, - (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxUpdatesPerFrame; }, - (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), - new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", - 500f, - (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_taintsToProcessPerStep; }, - (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), - new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", - 0.0001f, - (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, - (s) => { return (float)MinimumObjectMass; }, - (s,p,l,v) => { MinimumObjectMass = v; } ), - new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", - 10000.01f, - (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, - (s) => { return (float)MaximumObjectMass; }, - (s,p,l,v) => { MaximumObjectMass = v; } ), - - new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", - 2200f, - (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); }, - (s) => { return (float)PID_D; }, - (s,p,l,v) => { PID_D = v; } ), - new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", - 900f, - (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); }, - (s) => { return (float)PID_P; }, - (s,p,l,v) => { PID_P = v; } ), - - new ParameterDefn("DefaultFriction", "Friction factor used on new objects", - 0.2f, - (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].defaultFriction; }, - (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ), - new ParameterDefn("DefaultDensity", "Density for new objects" , - 10.000006836f, // Aluminum g/cm3 - (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].defaultDensity; }, - (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ), - new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , - 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].defaultRestitution; }, - (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ), - new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", - 0.04f, - (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].collisionMargin; }, - (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ), - new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", - -9.80665f, - (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].gravity; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); }, - (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), - - - new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", - 0f, - (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, - (s) => { return LinearDamping; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ), - new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", - 0f, - (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, - (s) => { return AngularDamping; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ), - new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", - 0.2f, - (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, - (s) => { return DeactivationTime; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), - new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", - 0.8f, - (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, - (s) => { return LinearSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), - new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", - 1.0f, - (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, - (s) => { return AngularSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), - new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , - 0f, // set to zero to disable - (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, - (s) => { return CcdMotionThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), - new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , - 0f, - (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, - (s) => { return CcdSweptSphereRadius; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), - new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , - 0.1f, - (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, - (s) => { return ContactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), - - new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", - (float)BSTerrainPhys.TerrainImplementation.Heightmap, - (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); }, - (s) => { return TerrainImplementation; }, - (s,p,l,v) => { TerrainImplementation = v; } ), - new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , - 0.3f, - (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); }, - (s) => { return TerrainFriction; }, - (s,p,l,v) => { TerrainFriction = v; /* TODO: set on real terrain */} ), - new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , - 0.8f, - (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); }, - (s) => { return TerrainHitFraction; }, - (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("TerrainRestitution", "Bouncyness" , - 0f, - (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); }, - (s) => { return TerrainRestitution; }, - (s,p,l,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , - 0.04f, - (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); }, - (s) => { return TerrainCollisionMargin; }, - (s,p,l,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ), - - new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", - 0.2f, - (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); }, - (s) => { return AvatarFriction; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ), - new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", - 10.0f, - (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, - (s) => { return AvatarStandingFriction; }, - (s,p,l,v) => { AvatarStandingFriction = v; } ), - new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", - 3.5f, - (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, - (s) => { return AvatarDensity; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ), - new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", - 0f, - (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); }, - (s) => { return AvatarRestitution; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ), - new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", - 0.6f, - (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); }, - (s) => { return AvatarCapsuleWidth; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ), - new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", - 0.45f, - (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); }, - (s) => { return AvatarCapsuleDepth; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ), - new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", - 1.5f, - (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); }, - (s) => { return AvatarCapsuleHeight; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ), - new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", - 0.1f, - (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); }, - (s) => { return AvatarContactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ), - - new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", - 0.95f, - (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, - (s) => { return VehicleAngularDamping; }, - (s,p,l,v) => { VehicleAngularDamping = v; } ), - - new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", - 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; }, - (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ), - new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", - 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; }, - (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ), - new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ), - new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ), - new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ), - new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ), - new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ), - new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", - 0f, // zero says use Bullet default - (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; }, - (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ), - - new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", - (float)BSLinkset.LinksetImplementation.Compound, - (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); }, - (s) => { return LinksetImplementation; }, - (s,p,l,v) => { LinksetImplementation = v; } ), - new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return LinkConstraintUseFrameOffset; }, - (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ), - new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return LinkConstraintEnableTransMotor; }, - (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ), - new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", - 5.0f, - (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); }, - (s) => { return LinkConstraintTransMotorMaxVel; }, - (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ), - new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", - 0.1f, - (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, - (s) => { return LinkConstraintTransMotorMaxForce; }, - (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ), - new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", - 0.1f, - (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); }, - (s) => { return LinkConstraintCFM; }, - (s,p,l,v) => { LinkConstraintCFM = v; } ), - new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", - 0.1f, - (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); }, - (s) => { return LinkConstraintERP; }, - (s,p,l,v) => { LinkConstraintERP = v; } ), - new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", - 40, - (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); }, - (s) => { return LinkConstraintSolverIterations; }, - (s,p,l,v) => { LinkConstraintSolverIterations = v; } ), - - new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)", - 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; }, - (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ), - }; - - // Convert a boolean to our numeric true and false values - public static float NumericBool(bool b) - { - return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse); - } - - // Convert numeric true and false values to a boolean - public static bool BoolNumeric(float b) - { - return (b == ConfigurationParameters.numericTrue ? true : false); - } - - // Search through the parameter definitions and return the matching - // ParameterDefn structure. - // Case does not matter as names are compared after converting to lower case. - // Returns 'false' if the parameter is not found. - internal static bool TryGetParameter(string paramName, out ParameterDefn defn) - { - bool ret = false; - ParameterDefn foundDefn = new ParameterDefn(); - string pName = paramName.ToLower(); - - foreach (ParameterDefn parm in ParameterDefinitions) - { - if (pName == parm.name.ToLower()) - { - foundDefn = parm; - ret = true; - break; - } - } - defn = foundDefn; - return ret; - } - - // Pass through the settable parameters and set the default values - internal static void SetParameterDefaultValues(BSScene physicsScene) - { - foreach (ParameterDefn parm in ParameterDefinitions) - { - parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue); - } - } - - // Get user set values out of the ini file. - internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg) - { - foreach (ParameterDefn parm in ParameterDefinitions) - { - parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue); - } - } - - internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; - - // This creates an array in the correct format for returning the list of - // parameters. This is used by the 'list' option of the 'physics' command. - internal static void BuildParameterTable() - { - if (SettableParameters.Length < ParameterDefinitions.Length) - { - List entries = new List(); - for (int ii = 0; ii < ParameterDefinitions.Length; ii++) - { - ParameterDefn pd = ParameterDefinitions[ii]; - entries.Add(new PhysParameterEntry(pd.name, pd.desc)); - } - - // make the list in alphabetical order for estetic reasons - entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2) - { - return ppe1.name.CompareTo(ppe2.name); - }); - - SettableParameters = entries.ToArray(); - } - } - - -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs deleted file mode 100644 index 689da7f..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs +++ /dev/null @@ -1,346 +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; -using OpenSim.Framework; -using OpenSim.Region.Physics.Manager; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ -/* - * Class to wrap all objects. - * The rest of BulletSim doesn't need to keep checking for avatars or prims - * unless the difference is significant. - * - * Variables in the physicsl objects are in three forms: - * VariableName: used by the simulator and performs taint operations, etc - * RawVariableName: direct reference to the BulletSim storage for the variable value - * ForceVariableName: direct reference (store and fetch) to the value in the physics engine. - * The last two (and certainly the last one) should be referenced only in taint-time. - */ - -/* - * As of 20121221, the following are the call sequences (going down) for different script physical functions: - * llApplyImpulse llApplyRotImpulse llSetTorque llSetForce - * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce - * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse - * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v - * BS.ApplyCentralForce BS.ApplyTorque - */ - -public abstract class BSPhysObject : PhysicsActor -{ - protected BSPhysObject() - { - } - protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) - { - PhysicsScene = parentScene; - LocalID = localID; - PhysObjectName = name; - TypeName = typeName; - - Linkset = BSLinkset.Factory(PhysicsScene, this); - LastAssetBuildFailed = false; - - // Default material type - Material = MaterialAttributes.Material.Wood; - - CollisionCollection = new CollisionEventUpdate(); - SubscribedEventsMs = 0; - CollidingStep = 0; - CollidingGroundStep = 0; - } - - // Tell the object to clean up. - public virtual void Destroy() - { - UnRegisterAllPreStepActions(); - } - - public BSScene PhysicsScene { get; protected set; } - // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor - public string PhysObjectName { get; protected set; } - public string TypeName { get; protected set; } - - public BSLinkset Linkset { get; set; } - public BSLinksetInfo LinksetInfo { get; set; } - - // Return the object mass without calculating it or having side effects - public abstract float RawMass { get; } - // Set the raw mass but also update physical mass properties (inertia, ...) - // 'inWorld' true if the object has already been added to the dynamic world. - public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld); - - // The last value calculated for the prim's inertia - public OMV.Vector3 Inertia { get; set; } - - // Reference to the physical body (btCollisionObject) of this object - public BulletBody PhysBody; - // Reference to the physical shape (btCollisionShape) of this object - public BulletShape PhysShape; - - // 'true' if the mesh's underlying asset failed to build. - // This will keep us from looping after the first time the build failed. - public bool LastAssetBuildFailed { get; set; } - - // The objects base shape information. Null if not a prim type shape. - public PrimitiveBaseShape BaseShape { get; protected set; } - // Some types of objects have preferred physical representations. - // Returns SHAPE_UNKNOWN if there is no preference. - public virtual BSPhysicsShapeType PreferredPhysicalShape - { - get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } - } - - // When the physical properties are updated, an EntityProperty holds the update values. - // Keep the current and last EntityProperties to enable computation of differences - // between the current update and the previous values. - public EntityProperties CurrentEntityProperties { get; set; } - public EntityProperties LastEntityProperties { get; set; } - - public virtual OMV.Vector3 Scale { get; set; } - public abstract bool IsSolid { get; } - public abstract bool IsStatic { get; } - - // Materialness - public MaterialAttributes.Material Material { get; private set; } - public override void SetMaterial(int material) - { - Material = (MaterialAttributes.Material)material; - } - - // Stop all physical motion. - public abstract void ZeroMotion(bool inTaintTime); - public abstract void ZeroAngularMotion(bool inTaintTime); - - // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured. - public virtual void StepVehicle(float timeStep) { } - - // Update the physical location and motion of the object. Called with data from Bullet. - public abstract void UpdateProperties(EntityProperties entprop); - - public abstract OMV.Vector3 RawPosition { get; set; } - public abstract OMV.Vector3 ForcePosition { get; set; } - - public abstract OMV.Quaternion RawOrientation { get; set; } - public abstract OMV.Quaternion ForceOrientation { get; set; } - - // The system is telling us the velocity it wants to move at. - // protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor - public override OMV.Vector3 TargetVelocity - { - get { return m_targetVelocity; } - set - { - m_targetVelocity = value; - Velocity = value; - } - } - public abstract OMV.Vector3 ForceVelocity { get; set; } - - public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } - - public abstract float ForceBuoyancy { get; set; } - - public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } - - #region Collisions - - // Requested number of milliseconds between collision events. Zero means disabled. - protected int SubscribedEventsMs { get; set; } - // Given subscription, the time that a collision may be passed up - protected int NextCollisionOkTime { get; set; } - // The simulation step that last had a collision - protected long CollidingStep { get; set; } - // The simulation step that last had a collision with the ground - protected long CollidingGroundStep { get; set; } - // The collision flags we think are set in Bullet - protected CollisionFlags CurrentCollisionFlags { get; set; } - - // The collisions that have been collected this tick - protected CollisionEventUpdate CollisionCollection; - - // The simulation step is telling this object about a collision. - // Return 'true' if a collision was processed and should be sent up. - // Called at taint time from within the Step() function - public virtual bool Collide(uint collidingWith, BSPhysObject collidee, - OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) - { - bool ret = false; - - // The following lines make IsColliding() and IsCollidingGround() work - CollidingStep = PhysicsScene.SimulationStep; - if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID) - { - CollidingGroundStep = PhysicsScene.SimulationStep; - } - - // prims in the same linkset cannot collide with each other - if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) - { - return ret; - } - - // if someone has subscribed for collision events.... - if (SubscribedEvents()) { - CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", - LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); - - ret = true; - } - return ret; - } - - // Send the collected collisions into the simulator. - // Called at taint time from within the Step() function thus no locking problems - // with CollisionCollection and ObjectsWithNoMoreCollisions. - // Return 'true' if there were some actual collisions passed up - public virtual bool SendCollisions() - { - bool ret = true; - // If the 'no collision' call, force it to happen right now so quick collision_end - bool force = (CollisionCollection.Count == 0); - - // throttle the collisions to the number of milliseconds specified in the subscription - if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) - { - NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; - - // We are called if we previously had collisions. If there are no collisions - // this time, send up one last empty event so OpenSim can sense collision end. - if (CollisionCollection.Count == 0) - { - // If I have no collisions this time, remove me from the list of objects with collisions. - ret = false; - } - - // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); - base.SendCollisionUpdate(CollisionCollection); - - // The CollisionCollection instance is passed around in the simulator. - // Make sure we don't have a handle to that one and that a new one is used for next time. - // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, - // a race condition is created for the other users of this instance. - CollisionCollection = new CollisionEventUpdate(); - } - return ret; - } - - // Subscribe for collision events. - // Parameter is the millisecond rate the caller wishes collision events to occur. - public override void SubscribeEvents(int ms) { - // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms); - SubscribedEventsMs = ms; - if (ms > 0) - { - // make sure first collision happens - NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); - - PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() - { - if (PhysBody.HasPhysicalBody) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - }); - } - else - { - // Subscribing for zero or less is the same as unsubscribing - UnSubscribeEvents(); - } - } - public override void UnSubscribeEvents() { - // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); - SubscribedEventsMs = 0; - PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() - { - // Make sure there is a body there because sometimes destruction happens in an un-ideal order. - if (PhysBody.HasPhysicalBody) - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - }); - } - // Return 'true' if the simulator wants collision events - public override bool SubscribedEvents() { - return (SubscribedEventsMs > 0); - } - - #endregion // Collisions - - #region Per Simulation Step actions - // There are some actions that must be performed for a physical object before each simulation step. - // These actions are optional so, rather than scanning all the physical objects and asking them - // if they have anything to do, a physical object registers for an event call before the step is performed. - // This bookkeeping makes it easy to add, remove and clean up after all these registrations. - private Dictionary RegisteredActions = new Dictionary(); - protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn) - { - string identifier = op + "-" + id.ToString(); - RegisteredActions[identifier] = actn; - PhysicsScene.BeforeStep += actn; - DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); - } - - // Unregister a pre step action. Safe to call if the action has not been registered. - protected void UnRegisterPreStepAction(string op, uint id) - { - string identifier = op + "-" + id.ToString(); - bool removed = false; - if (RegisteredActions.ContainsKey(identifier)) - { - PhysicsScene.BeforeStep -= RegisteredActions[identifier]; - RegisteredActions.Remove(identifier); - removed = true; - } - DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed); - } - - protected void UnRegisterAllPreStepActions() - { - foreach (KeyValuePair kvp in RegisteredActions) - { - PhysicsScene.BeforeStep -= kvp.Value; - } - RegisteredActions.Clear(); - DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID); - } - - - #endregion // Per Simulation Step actions - - // High performance detailed logging routine used by the physical objects. - protected void DetailLog(string msg, params Object[] args) - { - if (PhysicsScene.PhysicsLogging.Enabled) - PhysicsScene.DetailLog(msg, args); - } - -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs deleted file mode 100644 index 75963ee..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs +++ /dev/null @@ -1,81 +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 OpenSim.Framework; -using OpenSim.Region.Physics.Manager; -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - /// - /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim. - /// This module interfaces to an unmanaged C++ library which makes the - /// actual calls into the Bullet physics engine. - /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/. - /// The unmanaged library is compiled and linked statically with Bullet - /// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit). - /// -public class BSPlugin : IPhysicsPlugin -{ - //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); - - private BSScene _mScene; - - public BSPlugin() - { - } - - public bool Init() - { - return true; - } - - public PhysicsScene GetScene(String sceneIdentifier) - { - if (_mScene == null) - { - - // If not Windows, loading is performed by the - // Mono loader as specified in - // "bin/Physics/OpenSim.Region.Physics.BulletSNPlugin.dll.config". - - _mScene = new BSScene(sceneIdentifier); - } - return (_mScene); - } - - public string GetName() - { - return ("BulletSimN"); - } - - public void Dispose() - { - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs deleted file mode 100644 index aadb5b2..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs +++ /dev/null @@ -1,1494 +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.Reflection; -using System.Collections.Generic; -using System.Xml; -using log4net; -using OMV = OpenMetaverse; -using OpenSim.Framework; -using OpenSim.Region.Physics.Manager; -using OpenSim.Region.Physics.ConvexDecompositionDotNet; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - - [Serializable] -public sealed class BSPrim : BSPhysObject -{ - private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); - private static readonly string LogHeader = "[BULLETS PRIM]"; - - // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. - private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user - - private bool _grabbed; - private bool _isSelected; - private bool _isVolumeDetect; - private OMV.Vector3 _position; - private float _mass; // the mass of this object - private float _density; - private OMV.Vector3 _force; - private OMV.Vector3 _velocity; - private OMV.Vector3 _torque; - private float _collisionScore; - private OMV.Vector3 _acceleration; - private OMV.Quaternion _orientation; - private int _physicsActorType; - private bool _isPhysical; - private bool _flying; - private float _friction; - private float _restitution; - private bool _setAlwaysRun; - private bool _throttleUpdates; - private bool _isColliding; - private bool _collidingGround; - private bool _collidingObj; - private bool _floatOnWater; - private OMV.Vector3 _rotationalVelocity; - private bool _kinematic; - private float _buoyancy; - - private BSDynamics _vehicle; - - private OMV.Vector3 _PIDTarget; - private bool _usePID; - private float _PIDTau; - private bool _useHoverPID; - private float _PIDHoverHeight; - private PIDHoverType _PIDHoverType; - private float _PIDHoverTao; - - public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, - OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) - : base(parent_scene, localID, primName, "BSPrim") - { - // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); - _physicsActorType = (int)ActorTypes.Prim; - _position = pos; - _size = size; - Scale = size; // prims are the size the user wants them to be (different for BSCharactes). - _orientation = rotation; - _buoyancy = 1f; - _velocity = OMV.Vector3.Zero; - _rotationalVelocity = OMV.Vector3.Zero; - BaseShape = pbs; - _isPhysical = pisPhysical; - _isVolumeDetect = false; - - // Someday set default attributes based on the material but, for now, we don't know the prim material yet. - // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical); - _density = PhysicsScene.Params.defaultDensity; - _friction = PhysicsScene.Params.defaultFriction; - _restitution = PhysicsScene.Params.defaultRestitution; - - _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness - - _mass = CalculateMass(); - - Linkset.Refresh(this); - - DetailLog("{0},BSPrim.constructor,call", LocalID); - // do the actual object creation at taint time - PhysicsScene.TaintedObject("BSPrim.create", delegate() - { - CreateGeomAndObject(true); - - CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr); - }); - } - - // called when this prim is being destroyed and we should free all the resources - public override void Destroy() - { - // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); - base.Destroy(); - - // Undo any links between me and any other object - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; - - Linkset = Linkset.RemoveMeFromLinkset(this); - - DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - - // Undo any vehicle properties - this.VehicleType = (int)Vehicle.TYPE_NONE; - - PhysicsScene.TaintedObject("BSPrim.destroy", delegate() - { - DetailLog("{0},BSPrim.Destroy,taint,", LocalID); - // If there are physical body and shape, release my use of same. - PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); - PhysBody.Clear(); - PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); - PhysShape.Clear(); - }); - } - - // No one uses this property. - public override bool Stopped { - get { return false; } - } - public override OMV.Vector3 Size { - get { return _size; } - set { - // We presume the scale and size are the same. If scale must be changed for - // the physical shape, that is done when the geometry is built. - _size = value; - Scale = _size; - ForceBodyShapeRebuild(false); - } - } - - public override PrimitiveBaseShape Shape { - set { - BaseShape = value; - ForceBodyShapeRebuild(false); - } - } - // Whatever the linkset wants is what I want. - public override BSPhysicsShapeType PreferredPhysicalShape - { get { return Linkset.PreferredPhysicalShape(this); } } - - public override bool ForceBodyShapeRebuild(bool inTaintTime) - { - LastAssetBuildFailed = false; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() - { - _mass = CalculateMass(); // changing the shape changes the mass - CreateGeomAndObject(true); - }); - return true; - } - public override bool Grabbed { - set { _grabbed = value; - } - } - public override bool Selected { - set - { - if (value != _isSelected) - { - _isSelected = value; - PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() - { - DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); - SetObjectDynamic(false); - }); - } - } - } - public override void CrossingFailure() { return; } - - // link me to the specified parent - public override void link(PhysicsActor obj) { - BSPrim parent = obj as BSPrim; - if (parent != null) - { - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; - - Linkset = parent.Linkset.AddMeToLinkset(this); - - DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - } - return; - } - - // delink me from my linkset - public override void delink() { - // TODO: decide if this parent checking needs to happen at taint time - // Race condition here: if link() and delink() in same simulation tick, the delink will not happen - - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; - - Linkset = Linkset.RemoveMeFromLinkset(this); - - DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - return; - } - - // Set motion values to zero. - // Do it to the properties so the values get set in the physics engine. - // Push the setting of the values to the viewer. - // Called at taint time! - public override void ZeroMotion(bool inTaintTime) - { - _velocity = OMV.Vector3.Zero; - _acceleration = OMV.Vector3.Zero; - _rotationalVelocity = OMV.Vector3.Zero; - - // Zero some other properties in the physics engine - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() - { - if (PhysBody.HasPhysicalBody) - BulletSimAPI.ClearAllForces2(PhysBody.ptr); - }); - } - public override void ZeroAngularMotion(bool inTaintTime) - { - _rotationalVelocity = OMV.Vector3.Zero; - // Zero some other properties in the physics engine - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() - { - // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); - } - }); - } - - public override void LockAngularMotion(OMV.Vector3 axis) - { - DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); - return; - } - - public override OMV.Vector3 RawPosition - { - get { return _position; } - set { _position = value; } - } - public override OMV.Vector3 Position { - get { - /* NOTE: this refetch is not necessary. The simulator knows about linkset children - * and does not fetch this position info for children. Thus this is commented out. - // child prims move around based on their parent. Need to get the latest location - if (!Linkset.IsRoot(this)) - _position = Linkset.PositionGet(this); - */ - - // don't do the GetObjectPosition for root elements because this function is called a zillion times. - // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); - return _position; - } - set { - // If the position must be forced into the physics engine, use ForcePosition. - // All positions are given in world positions. - if (_position == value) - { - DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); - return; - } - _position = value; - PositionSanityCheck(false); - - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(this, false); - - PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() - { - DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; - }); - } - } - public override OMV.Vector3 ForcePosition { - get { - _position = BulletSimAPI.GetPosition2(PhysBody.ptr); - return _position; - } - set { - _position = value; - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - ActivateIfPhysical(false); - } - } - } - - // Check that the current position is sane and, if not, modify the position to make it so. - // Check for being below terrain and being out of bounds. - // Returns 'true' of the position was made sane by some action. - private bool PositionSanityCheck(bool inTaintTime) - { - bool ret = false; - - if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position)) - { - // The physical object is out of the known/simulated area. - // Upper levels of code will handle the transition to other areas so, for - // the time, we just ignore the position. - return ret; - } - - float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); - OMV.Vector3 upForce = OMV.Vector3.Zero; - if (RawPosition.Z < terrainHeight) - { - DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); - float targetHeight = terrainHeight + (Size.Z / 2f); - // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. - upForce.Z = (terrainHeight - RawPosition.Z) * 1f; - ret = true; - } - - if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) - { - float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); - // TODO: a floating motor so object will bob in the water - if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) - { - // Upforce proportional to the distance away from the water. Correct the error in 1 sec. - upForce.Z = (waterHeight - RawPosition.Z) * 1f; - ret = true; - } - } - - // The above code computes a force to apply to correct any out-of-bounds problems. Apply same. - // TODO: This should be intergrated with a geneal physics action mechanism. - // TODO: This should be moderated with PID'ness. - if (ret) - { - // Apply upforce and overcome gravity. - OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity; - DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); - AddForce(correctionForce, false, inTaintTime); - } - return ret; - } - - // Return the effective mass of the object. - // The definition of this call is to return the mass of the prim. - // If the simulator cares about the mass of the linkset, it will sum it itself. - public override float Mass - { - get - { - return _mass; - } - } - - // used when we only want this prim's mass and not the linkset thing - public override float RawMass { - get { return _mass; } - } - // Set the physical mass to the passed mass. - // Note that this does not change _mass! - public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) - { - if (PhysBody.HasPhysicalBody) - { - if (IsStatic) - { - Inertia = OMV.Vector3.Zero; - BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); - } - else - { - if (inWorld) - { - // Changing interesting properties doesn't change proxy and collision cache - // information. The Bullet solution is to re-add the object to the world - // after parameters are changed. - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); - } - - Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); - BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); - - // center of mass is at the zero of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); - DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld); - - if (inWorld) - { - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr,_position,_orientation); - } - - // Must set gravity after it has been added to the world because, for unknown reasons, - // adding the object resets the object's gravity to world gravity - OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy); - BulletSimAPI.SetGravity2(PhysBody.ptr, grav); - - } - } - } - - // Is this used? - public override OMV.Vector3 CenterOfMass - { - get { return Linkset.CenterOfMass; } - } - - // Is this used? - public override OMV.Vector3 GeometricCenter - { - get { return Linkset.GeometricCenter; } - } - - public override OMV.Vector3 Force { - get { return _force; } - set { - _force = value; - if (_force != OMV.Vector3.Zero) - { - // If the force is non-zero, it must be reapplied each tick because - // Bullet clears the forces applied last frame. - RegisterPreStepAction("BSPrim.setForce", LocalID, - delegate(float timeStep) - { - DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force); - ActivateIfPhysical(false); - } - } - ); - } - else - { - UnRegisterPreStepAction("BSPrim.setForce", LocalID); - } - } - } - - public override int VehicleType { - get { - return (int)_vehicle.Type; // if we are a vehicle, return that type - } - set { - Vehicle type = (Vehicle)value; - - PhysicsScene.TaintedObject("setVehicleType", delegate() - { - // Done at taint time so we're sure the physics engine is not using the variables - // Vehicle code changes the parameters for this vehicle type. - _vehicle.ProcessTypeChange(type); - ActivateIfPhysical(false); - - // If an active vehicle, register the vehicle code to be called before each step - if (_vehicle.Type == Vehicle.TYPE_NONE) - UnRegisterPreStepAction("BSPrim.Vehicle", LocalID); - else - RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step); - }); - } - } - public override void VehicleFloatParam(int param, float value) - { - PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() - { - _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); - ActivateIfPhysical(false); - }); - } - public override void VehicleVectorParam(int param, OMV.Vector3 value) - { - PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() - { - _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); - ActivateIfPhysical(false); - }); - } - public override void VehicleRotationParam(int param, OMV.Quaternion rotation) - { - PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() - { - _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); - ActivateIfPhysical(false); - }); - } - public override void VehicleFlags(int param, bool remove) - { - PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() - { - _vehicle.ProcessVehicleFlags(param, remove); - }); - } - - // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more - public override void SetVolumeDetect(int param) { - bool newValue = (param != 0); - if (_isVolumeDetect != newValue) - { - _isVolumeDetect = newValue; - PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() - { - // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); - SetObjectDynamic(true); - }); - } - return; - } - public override OMV.Vector3 Velocity { - get { return _velocity; } - set { - _velocity = value; - PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() - { - // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); - ForceVelocity = _velocity; - }); - } - } - public override OMV.Vector3 ForceVelocity { - get { return _velocity; } - set { - PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity"); - - _velocity = value; - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); - ActivateIfPhysical(false); - } - } - } - public override OMV.Vector3 Torque { - get { return _torque; } - set { - _torque = value; - if (_torque != OMV.Vector3.Zero) - { - // If the torque is non-zero, it must be reapplied each tick because - // Bullet clears the forces applied last frame. - RegisterPreStepAction("BSPrim.setTorque", LocalID, - delegate(float timeStep) - { - if (PhysBody.HasPhysicalBody) - AddAngularForce(_torque, false, true); - } - ); - } - else - { - UnRegisterPreStepAction("BSPrim.setTorque", LocalID); - } - // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); - } - } - public override float CollisionScore { - get { return _collisionScore; } - set { _collisionScore = value; - } - } - public override OMV.Vector3 Acceleration { - get { return _acceleration; } - set { _acceleration = value; } - } - public override OMV.Quaternion RawOrientation - { - get { return _orientation; } - set { _orientation = value; } - } - public override OMV.Quaternion Orientation { - get { - /* NOTE: this refetch is not necessary. The simulator knows about linkset children - * and does not fetch this position info for children. Thus this is commented out. - // Children move around because tied to parent. Get a fresh value. - if (!Linkset.IsRoot(this)) - { - _orientation = Linkset.OrientationGet(this); - } - */ - return _orientation; - } - set { - if (_orientation == value) - return; - _orientation = value; - - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(this, false); - - PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() - { - if (PhysBody.HasPhysicalBody) - { - // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); - // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - } - }); - } - } - // Go directly to Bullet to get/set the value. - public override OMV.Quaternion ForceOrientation - { - get - { - _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); - return _orientation; - } - set - { - _orientation = value; - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - } - } - public override int PhysicsActorType { - get { return _physicsActorType; } - set { _physicsActorType = value; } - } - public override bool IsPhysical { - get { return _isPhysical; } - set { - if (_isPhysical != value) - { - _isPhysical = value; - PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() - { - // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); - SetObjectDynamic(true); - // whether phys-to-static or static-to-phys, the object is not moving. - ZeroMotion(true); - }); - } - } - } - - // An object is static (does not move) if selected or not physical - public override bool IsStatic - { - get { return _isSelected || !IsPhysical; } - } - - // An object is solid if it's not phantom and if it's not doing VolumeDetect - public override bool IsSolid - { - get { return !IsPhantom && !_isVolumeDetect; } - } - - // Make gravity work if the object is physical and not selected - // Called at taint-time!! - private void SetObjectDynamic(bool forceRebuild) - { - // Recreate the physical object if necessary - CreateGeomAndObject(forceRebuild); - } - - // Convert the simulator's physical properties into settings on BulletSim objects. - // There are four flags we're interested in: - // IsStatic: Object does not move, otherwise the object has mass and moves - // isSolid: other objects bounce off of this object - // isVolumeDetect: other objects pass through but can generate collisions - // collisionEvents: whether this object returns collision events - private void UpdatePhysicalParameters() - { - // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); - - // Mangling all the physical properties requires the object not be in the physical world. - // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); - - // Set up the object physicalness (does gravity and collisions move this object) - MakeDynamic(IsStatic); - - // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) - _vehicle.Refresh(); - - // Arrange for collision events if the simulator wants them - EnableCollisions(SubscribedEvents()); - - // Make solid or not (do things bounce off or pass through this object). - MakeSolid(IsSolid); - - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation); - - // Rebuild its shape - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); - - // Collision filter can be set only when the object is in the world - PhysBody.ApplyCollisionMask(); - - // Recompute any linkset parameters. - // When going from non-physical to physical, this re-enables the constraints that - // had been automatically disabled when the mass was set to zero. - // For compound based linksets, this enables and disables interactions of the children. - Linkset.Refresh(this); - - DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", - LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); - } - - // "Making dynamic" means changing to and from static. - // When static, gravity does not effect the object and it is fixed in space. - // When dynamic, the object can fall and be pushed by others. - // This is independent of its 'solidness' which controls what passes through - // this object and what interacts with it. - private void MakeDynamic(bool makeStatic) - { - if (makeStatic) - { - // Become a Bullet 'static' object type - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - // Stop all movement - ZeroMotion(true); - - // Set various physical properties so other object interact properly - MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); - BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); - - // Mass is zero which disables a bunch of physics stuff in Bullet - UpdatePhysicalMassProperties(0f, false); - // Set collision detection parameters - if (BSParam.CcdMotionThreshold > 0f) - { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); - } - - // The activation state is 'disabled' so Bullet will not try to act on it. - // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); - // Start it out sleeping and physical actions could wake it up. - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); - - // This collides like a static object - PhysBody.collisionType = CollisionType.Static; - - // There can be special things needed for implementing linksets - Linkset.MakeStatic(this); - } - else - { - // Not a Bullet static object - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - - // Set various physical properties so other object interact properly - MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); - BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); - - // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 - // Since this can be called multiple times, only zero forces when becoming physical - // BulletSimAPI.ClearAllForces2(BSBody.ptr); - - // For good measure, make sure the transform is set through to the motion state - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - - // Center of mass is at the center of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); - - // A dynamic object has mass - UpdatePhysicalMassProperties(RawMass, false); - - // Set collision detection parameters - if (BSParam.CcdMotionThreshold > 0f) - { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); - } - - // Various values for simulation limits - BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping); - BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime); - BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); - BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); - - // This collides like an object. - PhysBody.collisionType = CollisionType.Dynamic; - - // Force activation of the object so Bullet will act on it. - // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); - - // There might be special things needed for implementing linksets. - Linkset.MakeDynamic(this); - } - } - - // "Making solid" means that other object will not pass through this object. - // To make transparent, we create a Bullet ghost object. - // Note: This expects to be called from the UpdatePhysicalParameters() routine as - // the functions after this one set up the state of a possibly newly created collision body. - private void MakeSolid(bool makeSolid) - { - CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr); - if (makeSolid) - { - // Verify the previous code created the correct shape for this type of thing. - if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0) - { - m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); - } - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - } - else - { - if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0) - { - m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); - } - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - - // Change collision info from a static object to a ghosty collision object - PhysBody.collisionType = CollisionType.VolumeDetect; - } - } - - // Enable physical actions. Bullet will keep sleeping non-moving physical objects so - // they need waking up when parameters are changed. - // Called in taint-time!! - private void ActivateIfPhysical(bool forceIt) - { - if (IsPhysical && PhysBody.HasPhysicalBody) - BulletSimAPI.Activate2(PhysBody.ptr, forceIt); - } - - // Turn on or off the flag controlling whether collision events are returned to the simulator. - private void EnableCollisions(bool wantsCollisionEvents) - { - if (wantsCollisionEvents) - { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - } - else - { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - } - } - - // prims don't fly - public override bool Flying { - get { return _flying; } - set { - _flying = value; - } - } - public override bool SetAlwaysRun { - get { return _setAlwaysRun; } - set { _setAlwaysRun = value; } - } - public override bool ThrottleUpdates { - get { return _throttleUpdates; } - set { _throttleUpdates = value; } - } - public override bool IsColliding { - get { return (CollidingStep == PhysicsScene.SimulationStep); } - set { _isColliding = value; } - } - public override bool CollidingGround { - get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } - set { _collidingGround = value; } - } - public override bool CollidingObj { - get { return _collidingObj; } - set { _collidingObj = value; } - } - public bool IsPhantom { - get { - // SceneObjectPart removes phantom objects from the physics scene - // so, although we could implement touching and such, we never - // are invoked as a phantom object - return false; - } - } - public override bool FloatOnWater { - set { - _floatOnWater = value; - PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() - { - if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); - else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); - }); - } - } - public override OMV.Vector3 RotationalVelocity { - get { - return _rotationalVelocity; - } - set { - _rotationalVelocity = value; - // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); - PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() - { - DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); - ForceRotationalVelocity = _rotationalVelocity; - }); - } - } - public override OMV.Vector3 ForceRotationalVelocity { - get { - return _rotationalVelocity; - } - set { - _rotationalVelocity = value; - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); - ActivateIfPhysical(false); - } - } - } - public override bool Kinematic { - get { return _kinematic; } - set { _kinematic = value; - // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic); - } - } - public override float Buoyancy { - get { return _buoyancy; } - set { - _buoyancy = value; - PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() - { - ForceBuoyancy = _buoyancy; - }); - } - } - public override float ForceBuoyancy { - get { return _buoyancy; } - set { - _buoyancy = value; - // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); - // Force the recalculation of the various inertia,etc variables in the object - UpdatePhysicalMassProperties(_mass, true); - ActivateIfPhysical(false); - } - } - - // Used for MoveTo - public override OMV.Vector3 PIDTarget { - set { _PIDTarget = value; } - } - public override bool PIDActive { - set { _usePID = value; } - } - public override float PIDTau { - set { _PIDTau = value; } - } - - // Used for llSetHoverHeight and maybe vehicle height - // Hover Height will override MoveTo target's Z - public override bool PIDHoverActive { - set { _useHoverPID = value; } - } - public override float PIDHoverHeight { - set { _PIDHoverHeight = value; } - } - public override PIDHoverType PIDHoverType { - set { _PIDHoverType = value; } - } - public override float PIDHoverTau { - set { _PIDHoverTao = value; } - } - - // For RotLookAt - public override OMV.Quaternion APIDTarget { set { return; } } - public override bool APIDActive { set { return; } } - public override float APIDStrength { set { return; } } - public override float APIDDamping { set { return; } } - - public override void AddForce(OMV.Vector3 force, bool pushforce) { - // Since this force is being applied in only one step, make this a force per second. - OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; - AddForce(addForce, pushforce, false); - } - // Applying a force just adds this to the total force on the object. - // This added force will only last the next simulation tick. - public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { - // for an object, doesn't matter if force is a pushforce or not - if (force.IsFinite()) - { - float magnitude = force.Length(); - if (magnitude > 20000f) - { - // Force has a limit - force = force / magnitude * 20000f; - } - - OMV.Vector3 addForce = force; - DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); - - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() - { - // Bullet adds this central force to the total force for this tick - DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); - ActivateIfPhysical(false); - } - }); - } - else - { - m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); - return; - } - } - - public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { - AddAngularForce(force, pushforce, false); - } - public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) - { - if (force.IsFinite()) - { - OMV.Vector3 angForce = force; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() - { - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce); - ActivateIfPhysical(false); - } - }); - } - else - { - m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); - return; - } - } - - // A torque impulse. - // ApplyTorqueImpulse adds torque directly to the angularVelocity. - // AddAngularForce accumulates the force and applied it to the angular velocity all at once. - // Computed as: angularVelocity += impulse * inertia; - public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime) - { - OMV.Vector3 applyImpulse = impulse; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() - { - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); - ActivateIfPhysical(false); - } - }); - } - - public override void SetMomentum(OMV.Vector3 momentum) { - // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); - } - #region Mass Calculation - - private float CalculateMass() - { - float volume = _size.X * _size.Y * _size.Z; // default - float tmp; - - float returnMass = 0; - float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f; - float hollowVolume = hollowAmount * hollowAmount; - - switch (BaseShape.ProfileShape) - { - case ProfileShape.Square: - // default box - - if (BaseShape.PathCurve == (byte)Extrusion.Straight) - { - if (hollowAmount > 0.0) - { - switch (BaseShape.HollowShape) - { - case HollowShape.Square: - case HollowShape.Same: - break; - - case HollowShape.Circle: - - hollowVolume *= 0.78539816339f; - break; - - case HollowShape.Triangle: - - hollowVolume *= (0.5f * .5f); - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) - { - //a tube - - volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX); - tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY); - volume -= volume*tmp*tmp; - - if (hollowAmount > 0.0) - { - hollowVolume *= hollowAmount; - - switch (BaseShape.HollowShape) - { - case HollowShape.Square: - case HollowShape.Same: - break; - - case HollowShape.Circle: - hollowVolume *= 0.78539816339f;; - break; - - case HollowShape.Triangle: - hollowVolume *= 0.5f * 0.5f; - break; - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - break; - - case ProfileShape.Circle: - - if (BaseShape.PathCurve == (byte)Extrusion.Straight) - { - volume *= 0.78539816339f; // elipse base - - if (hollowAmount > 0.0) - { - switch (BaseShape.HollowShape) - { - case HollowShape.Same: - case HollowShape.Circle: - break; - - case HollowShape.Square: - hollowVolume *= 0.5f * 2.5984480504799f; - break; - - case HollowShape.Triangle: - hollowVolume *= .5f * 1.27323954473516f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY); - volume *= (1.0f - tmp * tmp); - - if (hollowAmount > 0.0) - { - - // calculate the hollow volume by it's shape compared to the prim shape - hollowVolume *= hollowAmount; - - switch (BaseShape.HollowShape) - { - case HollowShape.Same: - case HollowShape.Circle: - break; - - case HollowShape.Square: - hollowVolume *= 0.5f * 2.5984480504799f; - break; - - case HollowShape.Triangle: - hollowVolume *= .5f * 1.27323954473516f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - break; - - case ProfileShape.HalfCircle: - if (BaseShape.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.52359877559829887307710723054658f; - } - break; - - case ProfileShape.EquilateralTriangle: - - if (BaseShape.PathCurve == (byte)Extrusion.Straight) - { - volume *= 0.32475953f; - - if (hollowAmount > 0.0) - { - - // calculate the hollow volume by it's shape compared to the prim shape - switch (BaseShape.HollowShape) - { - case HollowShape.Same: - case HollowShape.Triangle: - hollowVolume *= .25f; - break; - - case HollowShape.Square: - hollowVolume *= 0.499849f * 3.07920140172638f; - break; - - case HollowShape.Circle: - // Hollow shape is a perfect cyllinder in respect to the cube's scale - // Cyllinder hollow volume calculation - - hollowVolume *= 0.1963495f * 3.07920140172638f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.32475953f; - volume *= 0.01f * (float)(200 - BaseShape.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY); - volume *= (1.0f - tmp * tmp); - - if (hollowAmount > 0.0) - { - - hollowVolume *= hollowAmount; - - switch (BaseShape.HollowShape) - { - case HollowShape.Same: - case HollowShape.Triangle: - hollowVolume *= .25f; - break; - - case HollowShape.Square: - hollowVolume *= 0.499849f * 3.07920140172638f; - break; - - case HollowShape.Circle: - - hollowVolume *= 0.1963495f * 3.07920140172638f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - break; - - default: - break; - } - - - - float taperX1; - float taperY1; - float taperX; - float taperY; - float pathBegin; - float pathEnd; - float profileBegin; - float profileEnd; - - if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible) - { - taperX1 = BaseShape.PathScaleX * 0.01f; - if (taperX1 > 1.0f) - taperX1 = 2.0f - taperX1; - taperX = 1.0f - taperX1; - - taperY1 = BaseShape.PathScaleY * 0.01f; - if (taperY1 > 1.0f) - taperY1 = 2.0f - taperY1; - taperY = 1.0f - taperY1; - } - else - { - taperX = BaseShape.PathTaperX * 0.01f; - if (taperX < 0.0f) - taperX = -taperX; - taperX1 = 1.0f - taperX; - - taperY = BaseShape.PathTaperY * 0.01f; - if (taperY < 0.0f) - taperY = -taperY; - taperY1 = 1.0f - taperY; - - } - - - volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); - - pathBegin = (float)BaseShape.PathBegin * 2.0e-5f; - pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f; - volume *= (pathEnd - pathBegin); - - // this is crude aproximation - profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f; - profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f; - volume *= (profileEnd - profileBegin); - - returnMass = _density * volume; - - /* Comment out code that computes the mass of the linkset. That is done in the Linkset class. - if (IsRootOfLinkset) - { - foreach (BSPrim prim in _childrenPrims) - { - returnMass += prim.CalculateMass(); - } - } - */ - - returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); - - return returnMass; - }// end CalculateMass - #endregion Mass Calculation - - // Rebuild the geometry and object. - // This is called when the shape changes so we need to recreate the mesh/hull. - // Called at taint-time!!! - public void CreateGeomAndObject(bool forceRebuild) - { - // If this prim is part of a linkset, we must remove and restore the physical - // links if the body is rebuilt. - bool needToRestoreLinkset = false; - bool needToRestoreVehicle = false; - - // Create the correct physical representation for this type of object. - // Updates PhysBody and PhysShape with the new information. - // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. - PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody) - { - // Called if the current prim body is about to be destroyed. - // Remove all the physical dependencies on the old body. - // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) - needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); - needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this); - }); - - if (needToRestoreLinkset) - { - // If physical body dependencies were removed, restore them - Linkset.RestoreBodyDependencies(this); - } - if (needToRestoreVehicle) - { - // If physical body dependencies were removed, restore them - _vehicle.RestoreBodyDependencies(this); - } - - // Make sure the properties are set on the new object - UpdatePhysicalParameters(); - return; - } - - // The physics engine says that properties have updated. Update same and inform - // the world that things have changed. - // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate() - enum UpdatedProperties { - Position = 1 << 0, - Rotation = 1 << 1, - Velocity = 1 << 2, - Acceleration = 1 << 3, - RotationalVel = 1 << 4 - } - - const float ROTATION_TOLERANCE = 0.01f; - const float VELOCITY_TOLERANCE = 0.001f; - const float POSITION_TOLERANCE = 0.05f; - const float ACCELERATION_TOLERANCE = 0.01f; - const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; - - public override void UpdateProperties(EntityProperties entprop) - { - // Updates only for individual prims and for the root object of a linkset. - if (Linkset.IsRoot(this)) - { - // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet - // TODO: handle physics introduced by Bullet with computed vehicle physics. - if (_vehicle.IsActive) - { - entprop.RotationalVelocity = OMV.Vector3.Zero; - } - - // Assign directly to the local variables so the normal set action does not happen - _position = entprop.Position; - _orientation = entprop.Rotation; - _velocity = entprop.Velocity; - _acceleration = entprop.Acceleration; - _rotationalVelocity = entprop.RotationalVelocity; - - // The sanity check can change the velocity and/or position. - if (IsPhysical && PositionSanityCheck(true)) - { - entprop.Position = _position; - entprop.Velocity = _velocity; - } - - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG - DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", - LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); - - // remember the current and last set values - LastEntityProperties = CurrentEntityProperties; - CurrentEntityProperties = entprop; - - base.RequestPhysicsterseUpdate(); - } - /* - else - { - // For debugging, report the movement of children - DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, - entprop.Acceleration, entprop.RotationalVelocity); - } - */ - - // The linkset implimentation might want to know about this. - Linkset.UpdateProperties(this, true); - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs deleted file mode 100644 index 1a7c34b..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs +++ /dev/null @@ -1,957 +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.Runtime.InteropServices; -using System.Text; -using System.Threading; -using OpenSim.Framework; -using OpenSim.Region.Framework; -using OpenSim.Region.CoreModules; -using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging; -using OpenSim.Region.Physics.Manager; -using Nini.Config; -using log4net; -using OpenMetaverse; - -// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) -// Based on material, set density and friction -// More efficient memory usage when passing hull information from BSPrim to BulletSim -// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect -// Implement LockAngularMotion -// Add PID movement operations. What does ScenePresence.MoveToTarget do? -// Check terrain size. 128 or 127? -// Raycast -// -namespace OpenSim.Region.Physics.BulletSNPlugin -{ -public sealed class BSScene : PhysicsScene, IPhysicsParameters -{ - private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); - private static readonly string LogHeader = "[BULLETS SCENE]"; - - // The name of the region we're working for. - public string RegionName { get; private set; } - - public string BulletSimVersion = "?"; - - public Dictionary PhysObjects; - public BSShapeCollection Shapes; - - // Keeping track of the objects with collisions so we can report begin and end of a collision - public HashSet ObjectsWithCollisions = new HashSet(); - public HashSet ObjectsWithNoMoreCollisions = new HashSet(); - // Keep track of all the avatars so we can send them a collision event - // every tick so OpenSim will update its animation. - private HashSet m_avatars = new HashSet(); - - // let my minuions use my logger - public ILog Logger { get { return m_log; } } - - public IMesher mesher; - public uint WorldID { get; private set; } - public BulletWorld World { get; private set; } - - // All the constraints that have been allocated in this instance. - public BSConstraintCollection Constraints { get; private set; } - - // Simulation parameters - internal int m_maxSubSteps; - internal float m_fixedTimeStep; - internal long m_simulationStep = 0; - public long SimulationStep { get { return m_simulationStep; } } - internal int m_taintsToProcessPerStep; - internal float LastTimeStep { get; private set; } - - // Physical objects can register for prestep or poststep events - public delegate void PreStepAction(float timeStep); - public delegate void PostStepAction(float timeStep); - public event PreStepAction BeforeStep; - public event PreStepAction AfterStep; - - // A value of the time now so all the collision and update routines do not have to get their own - // Set to 'now' just before all the prims and actors are called for collisions and updates - public int SimulationNowTime { get; private set; } - - // True if initialized and ready to do simulation steps - private bool m_initialized = false; - - // Flag which is true when processing taints. - // Not guaranteed to be correct all the time (don't depend on this) but good for debugging. - public bool InTaintTime { get; private set; } - - // Pinned memory used to pass step information between managed and unmanaged - internal int m_maxCollisionsPerFrame; - private List m_collisionArray; - //private GCHandle m_collisionArrayPinnedHandle; - - internal int m_maxUpdatesPerFrame; - private List m_updateArray; - //private GCHandle m_updateArrayPinnedHandle; - - - public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero - public const uint GROUNDPLANE_ID = 1; - public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here - - public float SimpleWaterLevel { get; set; } - public BSTerrainManager TerrainManager { get; private set; } - - public ConfigurationParameters Params - { - get { return UnmanagedParams[0]; } - } - public Vector3 DefaultGravity - { - get { return new Vector3(0f, 0f, Params.gravity); } - } - // Just the Z value of the gravity - public float DefaultGravityZ - { - get { return Params.gravity; } - } - - // When functions in the unmanaged code must be called, it is only - // done at a known time just before the simulation step. The taint - // system saves all these function calls and executes them in - // order before the simulation. - public delegate void TaintCallback(); - private struct TaintCallbackEntry - { - public String ident; - public TaintCallback callback; - public TaintCallbackEntry(string i, TaintCallback c) - { - ident = i; - callback = c; - } - } - private Object _taintLock = new Object(); // lock for using the next object - private List _taintOperations; - private Dictionary _postTaintOperations; - private List _postStepOperations; - - // A pointer to an instance if this structure is passed to the C++ code - // Used to pass basic configuration values to the unmanaged code. - internal ConfigurationParameters[] UnmanagedParams; - //GCHandle m_paramsHandle; - - // Handle to the callback used by the unmanaged code to call into the managed code. - // Used for debug logging. - // Need to store the handle in a persistant variable so it won't be freed. - private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; - - // Sometimes you just have to log everything. - public Logging.LogWriter PhysicsLogging; - private bool m_physicsLoggingEnabled; - private string m_physicsLoggingDir; - private string m_physicsLoggingPrefix; - private int m_physicsLoggingFileMinutes; - private bool m_physicsLoggingDoFlush; - // 'true' of the vehicle code is to log lots of details - public bool VehicleLoggingEnabled { get; private set; } - public bool VehiclePhysicalLoggingEnabled { get; private set; } - - #region Construction and Initialization - public BSScene(string identifier) - { - m_initialized = false; - // we are passed the name of the region we're working for. - RegionName = identifier; - } - - public override void Initialise(IMesher meshmerizer, IConfigSource config) - { - mesher = meshmerizer; - _taintOperations = new List(); - _postTaintOperations = new Dictionary(); - _postStepOperations = new List(); - PhysObjects = new Dictionary(); - Shapes = new BSShapeCollection(this); - - // Allocate pinned memory to pass parameters. - UnmanagedParams = new ConfigurationParameters[1]; - //m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned); - - // Set default values for physics parameters plus any overrides from the ini file - GetInitialParameterValues(config); - - // allocate more pinned memory close to the above in an attempt to get the memory all together - m_collisionArray = new List(); - //m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned); - m_updateArray = new List(); - //m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); - - // Enable very detailed logging. - // By creating an empty logger when not logging, the log message invocation code - // can be left in and every call doesn't have to check for null. - if (m_physicsLoggingEnabled) - { - PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); - PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages. - } - else - { - PhysicsLogging = new Logging.LogWriter(); - } - - // If Debug logging level, enable logging from the unmanaged code - m_DebugLogCallbackHandle = null; - if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) - { - m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); - if (PhysicsLogging.Enabled) - // The handle is saved in a variable to make sure it doesn't get freed after this call - m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog); - else - m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); - } - - // Get the version of the DLL - // TODO: this doesn't work yet. Something wrong with marshaling the returned string. - // BulletSimVersion = BulletSimAPI.GetVersion(); - // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); - - // The bounding box for the simulated world. The origin is 0,0,0 unless we're - // a child in a mega-region. - // Bullet actually doesn't care about the extents of the simulated - // area. It tracks active objects no matter where they are. - Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); - - // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); - - World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams, - m_maxCollisionsPerFrame, ref m_collisionArray, - m_maxUpdatesPerFrame,ref m_updateArray, - m_DebugLogCallbackHandle)); - - Constraints = new BSConstraintCollection(World); - - TerrainManager = new BSTerrainManager(this); - TerrainManager.CreateInitialGroundPlaneAndTerrain(); - - m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation); - - InTaintTime = false; - m_initialized = true; - } - - // All default parameter values are set here. There should be no values set in the - // variable definitions. - private void GetInitialParameterValues(IConfigSource config) - { - ConfigurationParameters parms = new ConfigurationParameters(); - UnmanagedParams[0] = parms; - - BSParam.SetParameterDefaultValues(this); - - if (config != null) - { - // If there are specifications in the ini file, use those values - IConfig pConfig = config.Configs["BulletSim"]; - if (pConfig != null) - { - BSParam.SetParameterConfigurationValues(this, pConfig); - - // Very detailed logging for physics debugging - m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); - m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); - m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); - m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); - m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false); - // Very detailed logging for vehicle debugging - VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); - VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false); - - // Do any replacements in the parameters - m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); - } - - // The material characteristics. - BSMaterials.InitializeFromDefaults(Params); - if (pConfig != null) - { - // Let the user add new and interesting material property values. - BSMaterials.InitializefromParameters(pConfig); - } - } - } - - // A helper function that handles a true/false parameter and returns the proper float number encoding - float ParamBoolean(IConfig config, string parmName, float deflt) - { - float ret = deflt; - if (config.Contains(parmName)) - { - ret = ConfigurationParameters.numericFalse; - if (config.GetBoolean(parmName, false)) - { - ret = ConfigurationParameters.numericTrue; - } - } - return ret; - } - - // Called directly from unmanaged code so don't do much - private void BulletLogger(string msg) - { - m_log.Debug("[BULLETS UNMANAGED]:" + msg); - } - - // Called directly from unmanaged code so don't do much - private void BulletLoggerPhysLog(string msg) - { - DetailLog("[BULLETS UNMANAGED]:" + msg); - } - - public override void Dispose() - { - // m_log.DebugFormat("{0}: Dispose()", LogHeader); - - // make sure no stepping happens while we're deleting stuff - m_initialized = false; - - foreach (KeyValuePair kvp in PhysObjects) - { - kvp.Value.Destroy(); - } - PhysObjects.Clear(); - - // Now that the prims are all cleaned up, there should be no constraints left - if (Constraints != null) - { - Constraints.Dispose(); - Constraints = null; - } - - if (Shapes != null) - { - Shapes.Dispose(); - Shapes = null; - } - - if (TerrainManager != null) - { - TerrainManager.ReleaseGroundPlaneAndTerrain(); - TerrainManager.Dispose(); - TerrainManager = null; - } - - // Anything left in the unmanaged code should be cleaned out - BulletSimAPI.Shutdown2(World.ptr); - - // Not logging any more - PhysicsLogging.Close(); - } - #endregion // Construction and Initialization - - #region Prim and Avatar addition and removal - - public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) - { - m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader); - return null; - } - - public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying) - { - // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName); - - if (!m_initialized) return null; - - BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); - lock (PhysObjects) PhysObjects.Add(localID, actor); - - // TODO: Remove kludge someday. - // We must generate a collision for avatars whether they collide or not. - // This is required by OpenSim to update avatar animations, etc. - lock (m_avatars) m_avatars.Add(actor); - - return actor; - } - - public override void RemoveAvatar(PhysicsActor actor) - { - // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader); - - if (!m_initialized) return; - - BSCharacter bsactor = actor as BSCharacter; - if (bsactor != null) - { - try - { - lock (PhysObjects) PhysObjects.Remove(actor.LocalID); - // Remove kludge someday - lock (m_avatars) m_avatars.Remove(bsactor); - } - catch (Exception e) - { - m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e); - } - bsactor.Destroy(); - // bsactor.dispose(); - } - } - - public override void RemovePrim(PhysicsActor prim) - { - if (!m_initialized) return; - - BSPrim bsprim = prim as BSPrim; - if (bsprim != null) - { - DetailLog("{0},RemovePrim,call", bsprim.LocalID); - // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); - try - { - lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID); - } - catch (Exception e) - { - m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e); - } - bsprim.Destroy(); - // bsprim.dispose(); - } - else - { - m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader); - } - } - - public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation, bool isPhysical, uint localID) - { - // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName); - - if (!m_initialized) return null; - - DetailLog("{0},AddPrimShape,call", localID); - - BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); - lock (PhysObjects) PhysObjects.Add(localID, prim); - return prim; - } - - // This is a call from the simulator saying that some physical property has been updated. - // The BulletSim driver senses the changing of relevant properties so this taint - // information call is not needed. - public override void AddPhysicsActorTaint(PhysicsActor prim) { } - - #endregion // Prim and Avatar addition and removal - - #region Simulation - // Simulate one timestep - public override float Simulate(float timeStep) - { - // prevent simulation until we've been initialized - if (!m_initialized) return 5.0f; - - LastTimeStep = timeStep; - - int updatedEntityCount = 0; - //Object updatedEntitiesPtr; - int collidersCount = 0; - //Object collidersPtr; - - int beforeTime = 0; - int simTime = 0; - - // update the prim states while we know the physics engine is not busy - int numTaints = _taintOperations.Count; - - InTaintTime = true; // Only used for debugging so locking is not necessary. - - ProcessTaints(); - - // Some of the physical objects requre individual, pre-step calls - TriggerPreStepEvent(timeStep); - - // the prestep actions might have added taints - ProcessTaints(); - - InTaintTime = false; // Only used for debugging so locking is not necessary. - - // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. - // Only enable this in a limited test world with few objects. - // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG - - // step the physical world one interval - m_simulationStep++; - int numSubSteps = 0; - - try - { - if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); - - numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, - out updatedEntityCount, out m_updateArray, out collidersCount, out m_collisionArray); - - if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); - DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", - DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, - updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); - } - catch (Exception e) - { - m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}", - LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e); - DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}", - DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); - updatedEntityCount = 0; - collidersCount = 0; - } - - // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in. - - // Get a value for 'now' so all the collision and update routines don't have to get their own. - SimulationNowTime = Util.EnvironmentTickCount(); - - // If there were collisions, process them by sending the event to the prim. - // Collisions must be processed before updates. - if (collidersCount > 0) - { - for (int ii = 0; ii < collidersCount; ii++) - { - uint cA = m_collisionArray[ii].aID; - uint cB = m_collisionArray[ii].bID; - Vector3 point = new Vector3(m_collisionArray[ii].point.X, m_collisionArray[ii].point.Y, - m_collisionArray[ii].point.Z); - Vector3 normal = new Vector3(m_collisionArray[ii].normal.X, m_collisionArray[ii].normal.Y, - m_collisionArray[ii].normal.Z); - SendCollision(cA, cB, point, normal, 0.01f); - SendCollision(cB, cA, point, -normal, 0.01f); - } - } - - // The above SendCollision's batch up the collisions on the objects. - // Now push the collisions into the simulator. - if (ObjectsWithCollisions.Count > 0) - { - foreach (BSPhysObject bsp in ObjectsWithCollisions) - if (!bsp.SendCollisions()) - { - // If the object is done colliding, see that it's removed from the colliding list - ObjectsWithNoMoreCollisions.Add(bsp); - } - } - - // This is a kludge to get avatar movement updates. - // The simulator expects collisions for avatars even if there are have been no collisions. - // The event updates avatar animations and stuff. - // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. - foreach (BSPhysObject bsp in m_avatars) - if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice - bsp.SendCollisions(); - - // Objects that are done colliding are removed from the ObjectsWithCollisions list. - // Not done above because it is inside an iteration of ObjectWithCollisions. - // This complex collision processing is required to create an empty collision - // event call after all collisions have happened on an object. This enables - // the simulator to generate the 'collision end' event. - if (ObjectsWithNoMoreCollisions.Count > 0) - { - foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) - ObjectsWithCollisions.Remove(po); - ObjectsWithNoMoreCollisions.Clear(); - } - // Done with collisions. - - // If any of the objects had updated properties, tell the object it has been changed by the physics engine - if (updatedEntityCount > 0) - { - for (int ii = 0; ii < updatedEntityCount; ii++) - { - - BulletXNA.EntityProperties entprop = m_updateArray[ii]; - BSPhysObject pobj; - if (PhysObjects.TryGetValue(entprop.ID, out pobj)) - { - EntityProperties prop = new EntityProperties() - { - Acceleration = new Vector3(entprop.Acceleration.X, entprop.Acceleration.Y, entprop.Acceleration.Z), - ID = entprop.ID, - Position = new Vector3(entprop.Position.X,entprop.Position.Y,entprop.Position.Z), - Rotation = new Quaternion(entprop.Rotation.X,entprop.Rotation.Y,entprop.Rotation.Z,entprop.Rotation.W), - RotationalVelocity = new Vector3(entprop.AngularVelocity.X,entprop.AngularVelocity.Y,entprop.AngularVelocity.Z), - Velocity = new Vector3(entprop.Velocity.X,entprop.Velocity.Y,entprop.Velocity.Z) - }; - //m_log.Debug(pobj.Name + ":" + prop.ToString() + "\n"); - pobj.UpdateProperties(prop); - } - } - } - - TriggerPostStepEvent(timeStep); - - // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. - // Only enable this in a limited test world with few objects. - // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG - - // The physics engine returns the number of milliseconds it simulated this call. - // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. - // Multiply by 55 to give a nominal frame rate of 55. - return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f; - } - - // Something has collided - private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration) - { - if (localID <= TerrainManager.HighestTerrainID) - { - return; // don't send collisions to the terrain - } - - BSPhysObject collider; - if (!PhysObjects.TryGetValue(localID, out collider)) - { - // If the object that is colliding cannot be found, just ignore the collision. - DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith); - return; - } - - // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called. - BSPhysObject collidee = null; - PhysObjects.TryGetValue(collidingWith, out collidee); - - // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); - - if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) - { - // If a collision was posted, remember to send it to the simulator - ObjectsWithCollisions.Add(collider); - } - - return; - } - - #endregion // Simulation - - public override void GetResults() { } - - #region Terrain - - public override void SetTerrain(float[] heightMap) { - TerrainManager.SetTerrain(heightMap); - } - - public override void SetWaterLevel(float baseheight) - { - SimpleWaterLevel = baseheight; - } - - public override void DeleteTerrain() - { - // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); - } - - // Although no one seems to check this, I do support combining. - public override bool SupportsCombining() - { - return TerrainManager.SupportsCombining(); - } - // This call says I am a child to region zero in a mega-region. 'pScene' is that - // of region zero, 'offset' is my offset from regions zero's origin, and - // 'extents' is the largest XY that is handled in my region. - public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) - { - TerrainManager.Combine(pScene, offset, extents); - } - - // Unhook all the combining that I know about. - public override void UnCombine(PhysicsScene pScene) - { - TerrainManager.UnCombine(pScene); - } - - #endregion // Terrain - - public override Dictionary GetTopColliders() - { - return new Dictionary(); - } - - public override bool IsThreaded { get { return false; } } - - #region Taints - // The simulation execution order is: - // Simulate() - // DoOneTimeTaints - // TriggerPreStepEvent - // DoOneTimeTaints - // Step() - // ProcessAndForwardCollisions - // ProcessAndForwardPropertyUpdates - // TriggerPostStepEvent - - // Calls to the PhysicsActors can't directly call into the physics engine - // because it might be busy. We delay changes to a known time. - // We rely on C#'s closure to save and restore the context for the delegate. - public void TaintedObject(String ident, TaintCallback callback) - { - if (!m_initialized) return; - - lock (_taintLock) - { - _taintOperations.Add(new TaintCallbackEntry(ident, callback)); - } - - return; - } - - // Sometimes a potentially tainted operation can be used in and out of taint time. - // This routine executes the command immediately if in taint-time otherwise it is queued. - public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback) - { - if (inTaintTime) - callback(); - else - TaintedObject(ident, callback); - } - - private void TriggerPreStepEvent(float timeStep) - { - PreStepAction actions = BeforeStep; - if (actions != null) - actions(timeStep); - - } - - private void TriggerPostStepEvent(float timeStep) - { - PreStepAction actions = AfterStep; - if (actions != null) - actions(timeStep); - - } - - // When someone tries to change a property on a BSPrim or BSCharacter, the object queues - // a callback into itself to do the actual property change. That callback is called - // here just before the physics engine is called to step the simulation. - public void ProcessTaints() - { - ProcessRegularTaints(); - ProcessPostTaintTaints(); - } - - private void ProcessRegularTaints() - { - if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process - { - // swizzle a new list into the list location so we can process what's there - List oldList; - lock (_taintLock) - { - oldList = _taintOperations; - _taintOperations = new List(); - } - - foreach (TaintCallbackEntry tcbe in oldList) - { - try - { - DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG - tcbe.callback(); - } - catch (Exception e) - { - m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e); - } - } - oldList.Clear(); - } - } - - // Schedule an update to happen after all the regular taints are processed. - // Note that new requests for the same operation ("ident") for the same object ("ID") - // will replace any previous operation by the same object. - public void PostTaintObject(String ident, uint ID, TaintCallback callback) - { - string uniqueIdent = ident + "-" + ID.ToString(); - lock (_taintLock) - { - _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback); - } - - return; - } - - // Taints that happen after the normal taint processing but before the simulation step. - private void ProcessPostTaintTaints() - { - if (_postTaintOperations.Count > 0) - { - Dictionary oldList; - lock (_taintLock) - { - oldList = _postTaintOperations; - _postTaintOperations = new Dictionary(); - } - - foreach (KeyValuePair kvp in oldList) - { - try - { - DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG - kvp.Value.callback(); - } - catch (Exception e) - { - m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e); - } - } - oldList.Clear(); - } - } - - // Only used for debugging. Does not change state of anything so locking is not necessary. - public bool AssertInTaintTime(string whereFrom) - { - if (!InTaintTime) - { - DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); - m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); - Util.PrintCallStack(DetailLog); - } - return InTaintTime; - } - - #endregion // Taints - - #region INI and command line parameter processing - - #region IPhysicsParameters - // Get the list of parameters this physics engine supports - public PhysParameterEntry[] GetParameterList() - { - BSParam.BuildParameterTable(); - return BSParam.SettableParameters; - } - - // Set parameter on a specific or all instances. - // Return 'false' if not able to set the parameter. - // Setting the value in the m_params block will change the value the physics engine - // will use the next time since it's pinned and shared memory. - // Some of the values require calling into the physics engine to get the new - // value activated ('terrainFriction' for instance). - public bool SetPhysicsParameter(string parm, float val, uint localID) - { - bool ret = false; - BSParam.ParameterDefn theParam; - if (BSParam.TryGetParameter(parm, out theParam)) - { - theParam.setter(this, parm, localID, val); - ret = true; - } - return ret; - } - - // update all the localIDs specified - // If the local ID is APPLY_TO_NONE, just change the default value - // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs - // If the localID is a specific object, apply the parameter change to only that object - internal delegate void AssignVal(float x); - internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val) - { - List objectIDs = new List(); - switch (localID) - { - case PhysParameterEntry.APPLY_TO_NONE: - setDefault(val); // setting only the default value - // This will cause a call into the physical world if some operation is specified (SetOnObject). - objectIDs.Add(TERRAIN_ID); - TaintedUpdateParameter(parm, objectIDs, val); - break; - case PhysParameterEntry.APPLY_TO_ALL: - setDefault(val); // setting ALL also sets the default value - lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); - TaintedUpdateParameter(parm, objectIDs, val); - break; - default: - // setting only one localID - objectIDs.Add(localID); - TaintedUpdateParameter(parm, objectIDs, val); - break; - } - } - - // schedule the actual updating of the paramter to when the phys engine is not busy - private void TaintedUpdateParameter(string parm, List lIDs, float val) - { - float xval = val; - List xlIDs = lIDs; - string xparm = parm; - TaintedObject("BSScene.UpdateParameterSet", delegate() { - BSParam.ParameterDefn thisParam; - if (BSParam.TryGetParameter(xparm, out thisParam)) - { - if (thisParam.onObject != null) - { - foreach (uint lID in xlIDs) - { - BSPhysObject theObject = null; - PhysObjects.TryGetValue(lID, out theObject); - thisParam.onObject(this, theObject, xval); - } - } - } - }); - } - - // Get parameter. - // Return 'false' if not able to get the parameter. - public bool GetPhysicsParameter(string parm, out float value) - { - float val = 0f; - bool ret = false; - BSParam.ParameterDefn theParam; - if (BSParam.TryGetParameter(parm, out theParam)) - { - val = theParam.getter(this); - ret = true; - } - value = val; - return ret; - } - - #endregion IPhysicsParameters - - #endregion Runtime settable parameters - - // Invoke the detailed logger and output something if it's enabled. - public void DetailLog(string msg, params Object[] args) - { - PhysicsLogging.Write(msg, args); - // Add the Flush() if debugging crashes. Gets all the messages written out. - if (m_physicsLoggingDoFlush) PhysicsLogging.Flush(); - } - // Used to fill in the LocalID when there isn't one. It's the correct number of characters. - public const string DetailLogZero = "0000000000"; - -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs deleted file mode 100644 index 47fb768..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs +++ /dev/null @@ -1,1015 +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; -using OpenSim.Framework; -using OpenSim.Region.Physics.Manager; -using OpenSim.Region.Physics.ConvexDecompositionDotNet; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ -public sealed class BSShapeCollection : IDisposable -{ - private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; - - private BSScene PhysicsScene { get; set; } - - private Object m_collectionActivityLock = new Object(); - - // Description of a Mesh - private struct MeshDesc - { - public Object ptr; - public int referenceCount; - public DateTime lastReferenced; - public UInt64 shapeKey; - } - - // Description of a hull. - // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations. - private struct HullDesc - { - public Object ptr; - public int referenceCount; - public DateTime lastReferenced; - public UInt64 shapeKey; - } - - // The sharable set of meshes and hulls. Indexed by their shape hash. - private Dictionary Meshes = new Dictionary(); - private Dictionary Hulls = new Dictionary(); - - private bool DDetail = false; - - public BSShapeCollection(BSScene physScene) - { - PhysicsScene = physScene; - // Set the next to 'true' for very detailed shape update detailed logging (detailed details?) - // While detailed debugging is still active, this is better than commenting out all the - // DetailLog statements. When debugging slows down, this and the protected logging - // statements can be commented/removed. - DDetail = true; - } - - public void Dispose() - { - // TODO!!!!!!!!! - } - - // Callbacks called just before either the body or shape is destroyed. - // Mostly used for changing bodies out from under Linksets. - // Useful for other cases where parameters need saving. - // Passing 'null' says no callback. - public delegate void ShapeDestructionCallback(BulletShape shape); - public delegate void BodyDestructionCallback(BulletBody body); - - // Called to update/change the body and shape for an object. - // First checks the shape and updates that if necessary then makes - // sure the body is of the right type. - // Return 'true' if either the body or the shape changed. - // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before - // the current shape or body is destroyed. This allows the caller to remove any - // higher level dependencies on the shape or body. Mostly used for LinkSets to - // remove the physical constraints before the body is destroyed. - // Called at taint-time!! - public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, - ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) - { - PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); - - bool ret = false; - - // This lock could probably be pushed down lower but building shouldn't take long - lock (m_collectionActivityLock) - { - // Do we have the correct geometry for this type of object? - // Updates prim.BSShape with information/pointers to shape. - // Returns 'true' of BSShape is changed to a new shape. - bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback); - // If we had to select a new shape geometry for the object, - // rebuild the body around it. - // Updates prim.BSBody with information/pointers to requested body - // Returns 'true' if BSBody was changed. - bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, - prim.PhysShape, bodyCallback); - ret = newGeom || newBody; - } - DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}", - prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape); - - return ret; - } - - public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim) - { - return GetBodyAndShape(forceRebuild, sim, prim, null, null); - } - - // Track another user of a body. - // We presume the caller has allocated the body. - // Bodies only have one user so the body is just put into the world if not already there. - public void ReferenceBody(BulletBody body, bool inTaintTime) - { - lock (m_collectionActivityLock) - { - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); - PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() - { - if (!BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr)) - { - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); - } - }); - } - } - - // Release the usage of a body. - // Called when releasing use of a BSBody. BSShape is handled separately. - public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback ) - { - if (!body.HasPhysicalBody) - return; - - lock (m_collectionActivityLock) - { - PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate() - { - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}", - body.ID, body, inTaintTime); - // If the caller needs to know the old body is going away, pass the event up. - if (bodyCallback != null) bodyCallback(body); - - if (BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr)) - { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); - } - - // Zero any reference to the shape so it is not freed when the body is deleted. - BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, null); - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); - }); - } - } - - // Track the datastructures and use count for a shape. - // When creating a hull, this is called first to reference the mesh - // and then again to reference the hull. - // Meshes and hulls for the same shape have the same hash key. - // NOTE that native shapes are not added to the mesh list or removed. - // Returns 'true' if this is the initial reference to the shape. Otherwise reused. - public bool ReferenceShape(BulletShape shape) - { - bool ret = false; - switch (shape.type) - { - case BSPhysicsShapeType.SHAPE_MESH: - MeshDesc meshDesc; - if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) - { - // There is an existing instance of this mesh. - meshDesc.referenceCount++; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); - } - else - { - // This is a new reference to a mesh - meshDesc.ptr = shape.ptr; - meshDesc.shapeKey = shape.shapeKey; - // We keep a reference to the underlying IMesh data so a hull can be built - meshDesc.referenceCount = 1; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); - ret = true; - } - meshDesc.lastReferenced = System.DateTime.Now; - Meshes[shape.shapeKey] = meshDesc; - break; - case BSPhysicsShapeType.SHAPE_HULL: - HullDesc hullDesc; - if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) - { - // There is an existing instance of this hull. - hullDesc.referenceCount++; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); - } - else - { - // This is a new reference to a hull - hullDesc.ptr = shape.ptr; - hullDesc.shapeKey = shape.shapeKey; - hullDesc.referenceCount = 1; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); - ret = true; - - } - hullDesc.lastReferenced = System.DateTime.Now; - Hulls[shape.shapeKey] = hullDesc; - break; - case BSPhysicsShapeType.SHAPE_UNKNOWN: - break; - default: - // Native shapes are not tracked and they don't go into any list - break; - } - return ret; - } - - // Release the usage of a shape. - public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) - { - if (!shape.HasPhysicalShape) - return; - - PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate() - { - if (shape.HasPhysicalShape) - { - if (shape.isNativeShape) - { - // Native shapes are not tracked and are released immediately - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", - BSScene.DetailLogZero, shape.ptr.ToString(), inTaintTime); - if (shapeCallback != null) shapeCallback(shape); - BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); - } - else - { - switch (shape.type) - { - case BSPhysicsShapeType.SHAPE_HULL: - DereferenceHull(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_MESH: - DereferenceMesh(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_COMPOUND: - DereferenceCompound(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_UNKNOWN: - break; - default: - break; - } - } - } - }); - } - - // Count down the reference count for a mesh shape - // Called at taint-time. - private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - MeshDesc meshDesc; - if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) - { - meshDesc.referenceCount--; - // TODO: release the Bullet storage - if (shapeCallback != null) shapeCallback(shape); - meshDesc.lastReferenced = System.DateTime.Now; - Meshes[shape.shapeKey] = meshDesc; - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}", - BSScene.DetailLogZero, shape, meshDesc.referenceCount); - - } - } - - // Count down the reference count for a hull shape - // Called at taint-time. - private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - HullDesc hullDesc; - if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) - { - hullDesc.referenceCount--; - // TODO: release the Bullet storage (aging old entries?) - - // Tell upper layers that, if they have dependencies on this shape, this link is going away - if (shapeCallback != null) shapeCallback(shape); - - hullDesc.lastReferenced = System.DateTime.Now; - Hulls[shape.shapeKey] = hullDesc; - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}", - BSScene.DetailLogZero, shape, hullDesc.referenceCount); - } - } - - // Remove a reference to a compound shape. - // Taking a compound shape apart is a little tricky because if you just delete the - // physical shape, it will free all the underlying children. We can't do that because - // they could be shared. So, this removes each of the children from the compound and - // dereferences them separately before destroying the compound collision object itself. - // Called at taint-time. - private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - if (!BulletSimAPI.IsCompound2(shape.ptr)) - { - // Failed the sanity check!! - PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", - LogHeader, shape.type, shape.ptr.ToString()); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", - BSScene.DetailLogZero, shape.type, shape.ptr.ToString()); - return; - } - - int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren); - - for (int ii = numChildren - 1; ii >= 0; ii--) - { - Object childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii); - DereferenceAnonCollisionShape(childShape); - } - BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); - } - - // Sometimes we have a pointer to a collision shape but don't know what type it is. - // Figure out type and call the correct dereference routine. - // Called at taint-time. - private void DereferenceAnonCollisionShape(Object cShape) - { - MeshDesc meshDesc; - HullDesc hullDesc; - - BulletShape shapeInfo = new BulletShape(cShape); - if (TryGetMeshByPtr(cShape, out meshDesc)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; - shapeInfo.shapeKey = meshDesc.shapeKey; - } - else - { - if (TryGetHullByPtr(cShape, out hullDesc)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL; - shapeInfo.shapeKey = hullDesc.shapeKey; - } - else - { - if (BulletSimAPI.IsCompound2(cShape)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; - } - else - { - if (BulletSimAPI.IsNativeShape2(cShape)) - { - shapeInfo.isNativeShape = true; - shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) - } - } - } - } - - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); - - if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN) - { - DereferenceShape(shapeInfo, true, null); - } - else - { - PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}", - LogHeader, PhysicsScene.RegionName, cShape.ToString()); - } - } - - // Create the geometry information in Bullet for later use. - // The objects needs a hull if it's physical otherwise a mesh is enough. - // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls, - // shared geometries will be used. If the parameters of the existing shape are the same - // as this request, the shape is not rebuilt. - // Info in prim.BSShape is updated to the new shape. - // Returns 'true' if the geometry was rebuilt. - // Called at taint-time! - private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - bool ret = false; - bool haveShape = false; - - if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) - { - // an avatar capsule is close to a native shape (it is not shared) - GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, - FixedShapeKey.KEY_CAPSULE, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); - ret = true; - haveShape = true; - } - - // Compound shapes are handled special as they are rebuilt from scratch. - // This isn't too great a hardship since most of the child shapes will have already been created. - if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) - { - ret = GetReferenceToCompoundShape(prim, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); - haveShape = true; - } - - if (!haveShape) - { - ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback); - } - - return ret; - } - - // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'. - public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - bool ret = false; - bool haveShape = false; - bool nativeShapePossible = true; - PrimitiveBaseShape pbs = prim.BaseShape; - - // If the prim attributes are simple, this could be a simple Bullet native shape - if (!haveShape - && pbs != null - && nativeShapePossible - && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) - || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 - && pbs.ProfileHollow == 0 - && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 - && pbs.PathBegin == 0 && pbs.PathEnd == 0 - && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 - && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 - && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) - { - // Get the scale of any existing shape so we can see if the new shape is same native type and same size. - OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero; - if (prim.PhysShape.HasPhysicalShape) - scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr); - - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}", - prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type); - - // It doesn't look like Bullet scales spheres so make sure the scales are all equal - if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) - && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z) - { - haveShape = true; - if (forceRebuild - || prim.Scale != scaleOfExistingShape - || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE - ) - { - ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE, - FixedShapeKey.KEY_SPHERE, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.PhysShape); - } - } - if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) - { - haveShape = true; - if (forceRebuild - || prim.Scale != scaleOfExistingShape - || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX - ) - { - ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX, - FixedShapeKey.KEY_BOX, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.PhysShape); - } - } - } - - // If a simple shape is not happening, create a mesh and possibly a hull. - if (!haveShape && pbs != null) - { - ret = CreateGeomMeshOrHull(prim, shapeCallback); - } - - return ret; - } - - public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - - bool ret = false; - // Note that if it's a native shape, the check for physical/non-physical is not - // made. Native shapes work in either case. - if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects) - { - // Update prim.BSShape to reference a hull of this shape. - ret = GetReferenceToHull(prim,shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); - } - else - { - ret = GetReferenceToMesh(prim, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); - } - return ret; - } - - // Creates a native shape and assignes it to prim.BSShape. - // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape(). - private bool GetReferenceToNativeShape(BSPhysObject prim, - BSPhysicsShapeType shapeType, FixedShapeKey shapeKey, - ShapeDestructionCallback shapeCallback) - { - // release any previous shape - DereferenceShape(prim.PhysShape, true, shapeCallback); - - BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); - - // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. - if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", - prim.LocalID, newShape, prim.Scale); - - // native shapes are scaled by Bullet - prim.PhysShape = newShape; - return true; - } - - private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType, - FixedShapeKey shapeKey) - { - BulletShape newShape; - // Need to make sure the passed shape information is for the native type. - ShapeData nativeShapeData = new ShapeData(); - nativeShapeData.Type = shapeType; - nativeShapeData.ID = prim.LocalID; - nativeShapeData.Scale = prim.Scale; - nativeShapeData.Size = prim.Scale; // unneeded, I think. - nativeShapeData.MeshKey = (ulong)shapeKey; - nativeShapeData.HullKey = (ulong)shapeKey; - - if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) - { - // The proper scale has been calculated in the prim. - newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) - , shapeType); - if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); - } - else - { - // Native shapes are scaled in Bullet so set the scaling to the size - newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); - } - if (!newShape.HasPhysicalShape) - { - PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", - LogHeader, prim.LocalID, shapeType); - } - newShape.shapeKey = (System.UInt64)shapeKey; - newShape.isNativeShape = true; - - return newShape; - } - - // Builds a mesh shape in the physical world and updates prim.BSShape. - // Dereferences previous shape in BSShape and adds a reference for this new shape. - // Returns 'true' of a mesh was actually built. Otherwise . - // Called at taint-time! - private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - BulletShape newShape = new BulletShape(); - - float lod; - System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - - // if this new shape is the same as last time, don't recreate the mesh - if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH) - return false; - - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); - - // Since we're recreating new, get rid of the reference to the previous shape - DereferenceShape(prim.PhysShape, true, shapeCallback); - - newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod); - // Take evasive action if the mesh was not constructed. - newShape = VerifyMeshCreated(newShape, prim); - - ReferenceShape(newShape); - - prim.PhysShape = newShape; - - return true; // 'true' means a new shape has been added to this prim - } - - private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) - { - IMesh meshData = null; - Object meshPtr = null; - MeshDesc meshDesc; - if (Meshes.TryGetValue(newMeshKey, out meshDesc)) - { - // If the mesh has already been built just use it. - meshPtr = meshDesc.ptr; - } - else - { - meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); - - if (meshData != null) - { - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.getVertexList(); - - float[] verticesAsFloats = new float[vertices.Count * 3]; - int vi = 0; - foreach (OMV.Vector3 vv in vertices) - { - verticesAsFloats[vi++] = vv.X; - verticesAsFloats[vi++] = vv.Y; - verticesAsFloats[vi++] = vv.Z; - } - - // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", - // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); - - meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, - indices.GetLength(0), indices, vertices.Count, verticesAsFloats); - } - } - BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH); - newShape.shapeKey = newMeshKey; - - return newShape; - } - - // See that hull shape exists in the physical world and update prim.BSShape. - // We could be creating the hull because scale changed or whatever. - private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - BulletShape newShape; - - float lod; - System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - - // if the hull hasn't changed, don't rebuild it - if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL) - return false; - - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X")); - - // Remove usage of the previous shape. - DereferenceShape(prim.PhysShape, true, shapeCallback); - - newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod); - newShape = VerifyMeshCreated(newShape, prim); - - ReferenceShape(newShape); - - prim.PhysShape = newShape; - return true; // 'true' means a new shape has been added to this prim - } - - List m_hulls; - private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) - { - - Object hullPtr = null; - HullDesc hullDesc; - if (Hulls.TryGetValue(newHullKey, out hullDesc)) - { - // If the hull shape already is created, just use it. - hullPtr = hullDesc.ptr; - } - else - { - // Build a new hull in the physical world - // Pass true for physicalness as this creates some sort of bounding box which we don't need - IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); - if (meshData != null) - { - - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.getVertexList(); - - //format conversion from IMesh format to DecompDesc format - List convIndices = new List(); - List convVertices = new List(); - for (int ii = 0; ii < indices.GetLength(0); ii++) - { - convIndices.Add(indices[ii]); - } - foreach (OMV.Vector3 vv in vertices) - { - convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); - } - - // setup and do convex hull conversion - m_hulls = new List(); - DecompDesc dcomp = new DecompDesc(); - dcomp.mIndices = convIndices; - dcomp.mVertices = convVertices; - ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); - // create the hull into the _hulls variable - convexBuilder.process(dcomp); - - // Convert the vertices and indices for passing to unmanaged. - // The hull information is passed as a large floating point array. - // The format is: - // convHulls[0] = number of hulls - // convHulls[1] = number of vertices in first hull - // convHulls[2] = hull centroid X coordinate - // convHulls[3] = hull centroid Y coordinate - // convHulls[4] = hull centroid Z coordinate - // convHulls[5] = first hull vertex X - // convHulls[6] = first hull vertex Y - // convHulls[7] = first hull vertex Z - // convHulls[8] = second hull vertex X - // ... - // convHulls[n] = number of vertices in second hull - // convHulls[n+1] = second hull centroid X coordinate - // ... - // - // TODO: is is very inefficient. Someday change the convex hull generator to return - // data structures that do not need to be converted in order to pass to Bullet. - // And maybe put the values directly into pinned memory rather than marshaling. - int hullCount = m_hulls.Count; - int totalVertices = 1; // include one for the count of the hulls - foreach (ConvexResult cr in m_hulls) - { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += cr.HullIndices.Count * 3; // we pass just triangles - } - float[] convHulls = new float[totalVertices]; - - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (ConvexResult cr in m_hulls) - { - // copy vertices for index access - float3[] verts = new float3[cr.HullVertices.Count]; - int kk = 0; - foreach (float3 ff in cr.HullVertices) - { - verts[kk++] = ff; - } - - // add to the array one hull's worth of data - convHulls[jj++] = cr.HullIndices.Count; - convHulls[jj++] = 0f; // centroid x,y,z - convHulls[jj++] = 0f; - convHulls[jj++] = 0f; - foreach (int ind in cr.HullIndices) - { - convHulls[jj++] = verts[ind].x; - convHulls[jj++] = verts[ind].y; - convHulls[jj++] = verts[ind].z; - } - } - // create the hull data structure in Bullet - hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); - } - } - - BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL); - newShape.shapeKey = newHullKey; - - return newShape; - } - - // Callback from convex hull creater with a newly created hull. - // Just add it to our collection of hulls for this shape. - private void HullReturn(ConvexResult result) - { - m_hulls.Add(result); - return; - } - - // Compound shapes are always built from scratch. - // This shouldn't be to bad since most of the parts will be meshes that had been built previously. - private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - // Remove reference to the old shape - // Don't need to do this as the shape is freed when the new root shape is created below. - // DereferenceShape(prim.PhysShape, true, shapeCallback); - - BulletShape cShape = new BulletShape( - BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND); - - // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. - CreateGeomMeshOrHull(prim, shapeCallback); - BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity); - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}", - prim.LocalID, cShape, prim.PhysShape); - - prim.PhysShape = cShape; - - return true; - } - - // Create a hash of all the shape parameters to be used as a key - // for this particular shape. - private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) - { - // level of detail based on size and type of the object - float lod = BSParam.MeshLOD; - if (pbs.SculptEntry) - lod = BSParam.SculptLOD; - - // Mega prims usually get more detail because one can interact with shape approximations at this size. - float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z)); - if (maxAxis > BSParam.MeshMegaPrimThreshold) - lod = BSParam.MeshMegaPrimLOD; - - retLod = lod; - return pbs.GetMeshKey(size, lod); - } - // For those who don't want the LOD - private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs) - { - float lod; - return ComputeShapeKey(size, pbs, out lod); - } - - // The creation of a mesh or hull can fail if an underlying asset is not available. - // There are two cases: 1) the asset is not in the cache and it needs to be fetched; - // and 2) the asset cannot be converted (like failed decompression of JPEG2000s). - // The first case causes the asset to be fetched. The second case requires - // us to not loop forever. - // Called after creating a physical mesh or hull. If the physical shape was created, - // just return. - private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim) - { - // If the shape was successfully created, nothing more to do - if (newShape.HasPhysicalShape) - return newShape; - - // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset - if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero) - { - prim.LastAssetBuildFailed = true; - BSPhysObject xprim = prim; - DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}", - LogHeader, prim.LocalID, prim.LastAssetBuildFailed); - Util.FireAndForget(delegate - { - RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; - if (assetProvider != null) - { - BSPhysObject yprim = xprim; // probably not necessary, but, just in case. - assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) - { - if (!yprim.BaseShape.SculptEntry) - return; - if (yprim.BaseShape.SculptTexture.ToString() != asset.ID) - return; - - yprim.BaseShape.SculptData = asset.Data; - // This will cause the prim to see that the filler shape is not the right - // one and try again to build the object. - // No race condition with the normal shape setting since the rebuild is at taint time. - yprim.ForceBodyShapeRebuild(false); - - }); - } - }); - } - else - { - if (prim.LastAssetBuildFailed) - { - PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}", - LogHeader, prim.LocalID, prim.BaseShape.SculptTexture); - } - } - - // While we figure out the real problem, stick a simple native shape on the object. - BulletShape fillinShape = - BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); - - return fillinShape; - } - - // Create a body object in Bullet. - // Updates prim.BSBody with the information about the new body if one is created. - // Returns 'true' if an object was actually created. - // Called at taint-time. - private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape, - BodyDestructionCallback bodyCallback) - { - bool ret = false; - - // the mesh, hull or native shape must have already been created in Bullet - bool mustRebuild = !prim.PhysBody.HasPhysicalBody; - - // If there is an existing body, verify it's of an acceptable type. - // If not a solid object, body is a GhostObject. Otherwise a RigidBody. - if (!mustRebuild) - { - CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr); - if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY - || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) - { - // If the collisionObject is not the correct type for solidness, rebuild what's there - mustRebuild = true; - } - } - - if (mustRebuild || forceRebuild) - { - // Free any old body - DereferenceBody(prim.PhysBody, true, bodyCallback); - - BulletBody aBody; - Object bodyPtr = null; - if (prim.IsSolid) - { - bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, - prim.LocalID, prim.RawPosition, prim.RawOrientation); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString()); - } - else - { - bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, - prim.LocalID, prim.RawPosition, prim.RawOrientation); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString()); - } - aBody = new BulletBody(prim.LocalID, bodyPtr); - - ReferenceBody(aBody, true); - - prim.PhysBody = aBody; - - ret = true; - } - - return ret; - } - - private bool TryGetMeshByPtr(Object addr, out MeshDesc outDesc) - { - bool ret = false; - MeshDesc foundDesc = new MeshDesc(); - foreach (MeshDesc md in Meshes.Values) - { - if (md.ptr == addr) - { - foundDesc = md; - ret = true; - break; - } - - } - outDesc = foundDesc; - return ret; - } - - private bool TryGetHullByPtr(Object addr, out HullDesc outDesc) - { - bool ret = false; - HullDesc foundDesc = new HullDesc(); - foreach (HullDesc hd in Hulls.Values) - { - if (hd.ptr == addr) - { - foundDesc = hd; - ret = true; - break; - } - - } - outDesc = foundDesc; - return ret; - } - - private void DetailLog(string msg, params Object[] args) - { - if (PhysicsScene.PhysicsLogging.Enabled) - PhysicsScene.DetailLog(msg, args); - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs deleted file mode 100644 index 8ff0275..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs +++ /dev/null @@ -1,208 +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.Linq; -using System.Text; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ -public abstract class BSShape -{ - public Object ptr { get; set; } - public BSPhysicsShapeType type { get; set; } - public System.UInt64 key { get; set; } - public int referenceCount { get; set; } - public DateTime lastReferenced { get; set; } - - public BSShape() - { - ptr = null; - type = BSPhysicsShapeType.SHAPE_UNKNOWN; - key = 0; - referenceCount = 0; - lastReferenced = DateTime.Now; - } - - // Get a reference to a physical shape. Create if it doesn't exist - public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) - { - BSShape ret = null; - - if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) - { - // an avatar capsule is close to a native shape (it is not shared) - ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE, - FixedShapeKey.KEY_CAPSULE); - physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret); - } - - // Compound shapes are handled special as they are rebuilt from scratch. - // This isn't too great a hardship since most of the child shapes will already been created. - if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) - { - // Getting a reference to a compound shape gets you the compound shape with the root prim shape added - ret = BSShapeCompound.GetReference(prim); - physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); - } - - if (ret == null) - ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim); - - return ret; - } - public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) - { - return null; - } - public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) - { - return null; - } - - // Release the use of a physical shape. - public abstract void Dereference(BSScene physicsScene); - - // All shapes have a static call to get a reference to the physical shape - // protected abstract static BSShape GetReference(); - - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -} - -public class BSShapeNull : BSShape -{ - public BSShapeNull() : base() - { - } - public static BSShape GetReference() { return new BSShapeNull(); } - public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ } -} - -public class BSShapeNative : BSShape -{ - private static string LogHeader = "[BULLETSIM SHAPE NATIVE]"; - public BSShapeNative() : base() - { - } - public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, - BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) - { - // Native shapes are not shared and are always built anew. - return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); - } - - private BSShapeNative(BSScene physicsScene, BSPhysObject prim, - BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) - { - ShapeData nativeShapeData = new ShapeData(); - nativeShapeData.Type = shapeType; - nativeShapeData.ID = prim.LocalID; - nativeShapeData.Scale = prim.Scale; - nativeShapeData.Size = prim.Scale; - nativeShapeData.MeshKey = (ulong)shapeKey; - nativeShapeData.HullKey = (ulong)shapeKey; - - - if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) - { - ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); - physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); - } - else - { - ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData); - } - if (ptr == null) - { - physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", - LogHeader, prim.LocalID, shapeType); - } - type = shapeType; - key = (UInt64)shapeKey; - } - // Make this reference to the physical shape go away since native shapes are not shared. - public override void Dereference(BSScene physicsScene) - { - // Native shapes are not tracked and are released immediately - physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); - BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr); - ptr = null; - // Garbage collection will free up this instance. - } -} - -public class BSShapeMesh : BSShape -{ - private static string LogHeader = "[BULLETSIM SHAPE MESH]"; - private static Dictionary Meshes = new Dictionary(); - - public BSShapeMesh() : base() - { - } - public static BSShape GetReference() { return new BSShapeNull(); } - public override void Dereference(BSScene physicsScene) { } -} - -public class BSShapeHull : BSShape -{ - private static string LogHeader = "[BULLETSIM SHAPE HULL]"; - private static Dictionary Hulls = new Dictionary(); - - public BSShapeHull() : base() - { - } - public static BSShape GetReference() { return new BSShapeNull(); } - public override void Dereference(BSScene physicsScene) { } -} - -public class BSShapeCompound : BSShape -{ - private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; - public BSShapeCompound() : base() - { - } - public static BSShape GetReference(BSPhysObject prim) - { - return new BSShapeNull(); - } - public override void Dereference(BSScene physicsScene) { } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs deleted file mode 100644 index ba17059..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs +++ /dev/null @@ -1,175 +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 OpenSim.Framework; -using OpenSim.Region.Framework; -using OpenSim.Region.CoreModules; -using OpenSim.Region.Physics.Manager; - -using Nini.Config; -using log4net; - -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ -public sealed class BSTerrainHeightmap : BSTerrainPhys -{ - static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; - - BulletHeightMapInfo m_mapInfo = null; - - // Constructor to build a default, flat heightmap terrain. - public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) - : base(physicsScene, regionBase, id) - { - Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); - Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); - int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; - float[] initialMap = new float[totalHeights]; - for (int ii = 0; ii < totalHeights; ii++) - { - initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; - } - m_mapInfo = new BulletHeightMapInfo(id, initialMap, null); - m_mapInfo.minCoords = minTerrainCoords; - m_mapInfo.maxCoords = maxTerrainCoords; - m_mapInfo.terrainRegionBase = TerrainBase; - // Don't have to free any previous since we just got here. - BuildHeightmapTerrain(); - } - - // This minCoords and maxCoords passed in give the size of the terrain (min and max Z - // are the high and low points of the heightmap). - public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, - Vector3 minCoords, Vector3 maxCoords) - : base(physicsScene, regionBase, id) - { - m_mapInfo = new BulletHeightMapInfo(id, initialMap, null); - m_mapInfo.minCoords = minCoords; - m_mapInfo.maxCoords = maxCoords; - m_mapInfo.minZ = minCoords.Z; - m_mapInfo.maxZ = maxCoords.Z; - m_mapInfo.terrainRegionBase = TerrainBase; - - // Don't have to free any previous since we just got here. - BuildHeightmapTerrain(); - } - - public override void Dispose() - { - ReleaseHeightMapTerrain(); - } - - // Using the information in m_mapInfo, create the physical representation of the heightmap. - private void BuildHeightmapTerrain() - { - m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, - m_mapInfo.minCoords, m_mapInfo.maxCoords, - m_mapInfo.heightMap, BSParam.TerrainCollisionMargin); - - // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), - BSPhysicsShapeType.SHAPE_TERRAIN); - - // The terrain object initial position is at the center of the object - Vector3 centerPos; - centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); - centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); - centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f - 0.5f); - - m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, - m_mapInfo.ID, centerPos, Quaternion.Identity)); - - // Set current terrain attributes - BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction); - BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction); - BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution); - BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - - // Return the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr, centerPos, Quaternion.Identity); - - // redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - - m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; - m_mapInfo.terrainBody.ApplyCollisionMask(); - - // Make it so the terrain will not move or be considered for movement. - BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); - - return; - } - - // If there is information in m_mapInfo pointing to physical structures, release same. - private void ReleaseHeightMapTerrain() - { - if (m_mapInfo != null) - { - if (m_mapInfo.terrainBody.HasPhysicalBody) - { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - // Frees both the body and the shape. - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); - } - } - m_mapInfo = null; - } - - // The passed position is relative to the base of the region. - public override float GetTerrainHeightAtXYZ(Vector3 pos) - { - float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - - int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X; - try - { - ret = m_mapInfo.heightMap[mapIndex]; - } - catch - { - // Sometimes they give us wonky values of X and Y. Give a warning and return something. - PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", - LogHeader, m_mapInfo.terrainRegionBase, pos); - ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - } - return ret; - } - - // The passed position is relative to the base of the region. - public override float GetWaterLevelAtXYZ(Vector3 pos) - { - return PhysicsScene.SimpleWaterLevel; - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs deleted file mode 100644 index 66d62f0..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs +++ /dev/null @@ -1,461 +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 OpenSim.Framework; -using OpenSim.Region.Framework; -using OpenSim.Region.CoreModules; -using OpenSim.Region.Physics.Manager; - -using Nini.Config; -using log4net; - -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - -// The physical implementation of the terrain is wrapped in this class. -public abstract class BSTerrainPhys : IDisposable -{ - public enum TerrainImplementation - { - Heightmap = 0, - Mesh = 1 - } - - public BSScene PhysicsScene { get; private set; } - // Base of the region in world coordinates. Coordinates inside the region are relative to this. - public Vector3 TerrainBase { get; private set; } - public uint ID { get; private set; } - - public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id) - { - PhysicsScene = physicsScene; - TerrainBase = regionBase; - ID = id; - } - public abstract void Dispose(); - public abstract float GetTerrainHeightAtXYZ(Vector3 pos); - public abstract float GetWaterLevelAtXYZ(Vector3 pos); -} - -// ========================================================================================== -public sealed class BSTerrainManager : IDisposable -{ - static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; - - // These height values are fractional so the odd values will be - // noticable when debugging. - public const float HEIGHT_INITIALIZATION = 24.987f; - public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f; - public const float HEIGHT_GETHEIGHT_RET = 24.765f; - public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f; - - // If the min and max height are equal, we reduce the min by this - // amount to make sure that a bounding box is built for the terrain. - public const float HEIGHT_EQUAL_FUDGE = 0.2f; - - // Until the whole simulator is changed to pass us the region size, we rely on constants. - public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); - - // The scene that I am part of - private BSScene PhysicsScene { get; set; } - - // The ground plane created to keep thing from falling to infinity. - private BulletBody m_groundPlane; - - // If doing mega-regions, if we're region zero we will be managing multiple - // region terrains since region zero does the physics for the whole mega-region. - private Dictionary m_terrains; - - // Flags used to know when to recalculate the height. - private bool m_terrainModified = false; - - // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount. - // This is incremented before assigning to new region so it is the last ID allocated. - private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1; - public uint HighestTerrainID { get {return m_terrainCount; } } - - // If doing mega-regions, this holds our offset from region zero of - // the mega-regions. "parentScene" points to the PhysicsScene of region zero. - private Vector3 m_worldOffset; - // If the parent region (region 0), this is the extent of the combined regions - // relative to the origin of region zero - private Vector3 m_worldMax; - private PhysicsScene MegaRegionParentPhysicsScene { get; set; } - - public BSTerrainManager(BSScene physicsScene) - { - PhysicsScene = physicsScene; - m_terrains = new Dictionary(); - - // Assume one region of default size - m_worldOffset = Vector3.Zero; - m_worldMax = new Vector3(DefaultRegionSize); - MegaRegionParentPhysicsScene = null; - } - - public void Dispose() - { - ReleaseGroundPlaneAndTerrain(); - } - - // Create the initial instance of terrain and the underlying ground plane. - // This is called from the initialization routine so we presume it is - // safe to call Bullet in real time. We hope no one is moving prims around yet. - public void CreateInitialGroundPlaneAndTerrain() - { - // The ground plane is here to catch things that are trying to drop to negative infinity - BulletShape groundPlaneShape = new BulletShape( - BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, - BSParam.TerrainCollisionMargin), - BSPhysicsShapeType.SHAPE_GROUNDPLANE); - m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, - Vector3.Zero, Quaternion.Identity)); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr, Vector3.Zero, Quaternion.Identity); - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr); - // Ground plane does not move - BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); - // Everything collides with the ground plane. - m_groundPlane.collisionType = CollisionType.Groundplane; - m_groundPlane.ApplyCollisionMask(); - - // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. - BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); - m_terrains.Add(Vector3.Zero, initialTerrain); - } - - // Release all the terrain structures we might have allocated - public void ReleaseGroundPlaneAndTerrain() - { - if (m_groundPlane.HasPhysicalBody) - { - if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr)) - { - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr); - } - m_groundPlane.Clear(); - } - - ReleaseTerrain(); - } - - // Release all the terrain we have allocated - public void ReleaseTerrain() - { - lock (m_terrains) - { - foreach (KeyValuePair kvp in m_terrains) - { - kvp.Value.Dispose(); - } - m_terrains.Clear(); - } - } - - // The simulator wants to set a new heightmap for the terrain. - public void SetTerrain(float[] heightMap) { - float[] localHeightMap = heightMap; - // If there are multiple requests for changes to the same terrain between ticks, - // only do that last one. - PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate() - { - if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null) - { - // If a child of a mega-region, we shouldn't have any terrain allocated for us - ReleaseGroundPlaneAndTerrain(); - // If doing the mega-prim stuff and we are the child of the zero region, - // the terrain is added to our parent - if (MegaRegionParentPhysicsScene is BSScene) - { - DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", - BSScene.DetailLogZero, m_worldOffset, m_worldMax); - ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain( - BSScene.CHILDTERRAIN_ID, localHeightMap, - m_worldOffset, m_worldOffset + DefaultRegionSize, true); - } - } - else - { - // If not doing the mega-prim thing, just change the terrain - DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); - - UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, - m_worldOffset, m_worldOffset + DefaultRegionSize, true); - } - }); - } - - // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain - // based on the passed information. The 'id' should be either the terrain id or - // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used. - // The latter feature is for creating child terrains for mega-regions. - // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new - // terrain shape is created and added to the body. - // This call is most often used to update the heightMap and parameters of the terrain. - // (The above does suggest that some simplification/refactoring is in order.) - // Called during taint-time. - private void UpdateTerrain(uint id, float[] heightMap, - Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) - { - DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}", - BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime); - - // Find high and low points of passed heightmap. - // The min and max passed in is usually the area objects can be in (maximum - // object height, for instance). The terrain wants the bounding box for the - // terrain so replace passed min and max Z with the actual terrain min/max Z. - float minZ = float.MaxValue; - float maxZ = float.MinValue; - foreach (float height in heightMap) - { - if (height < minZ) minZ = height; - if (height > maxZ) maxZ = height; - } - if (minZ == maxZ) - { - // If min and max are the same, reduce min a little bit so a good bounding box is created. - minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE; - } - minCoords.Z = minZ; - maxCoords.Z = maxZ; - - Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f); - - lock (m_terrains) - { - BSTerrainPhys terrainPhys; - if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys)) - { - // There is already a terrain in this spot. Free the old and build the new. - DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", - BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords); - - // Remove old terrain from the collection - m_terrains.Remove(terrainRegionBase); - // Release any physical memory it may be using. - terrainPhys.Dispose(); - - if (MegaRegionParentPhysicsScene == null) - { - BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); - m_terrains.Add(terrainRegionBase, newTerrainPhys); - - m_terrainModified = true; - } - else - { - // It's possible that Combine() was called after this code was queued. - // If we are a child of combined regions, we don't create any terrain for us. - DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero); - - // Get rid of any terrain that may have been allocated for us. - ReleaseGroundPlaneAndTerrain(); - - // I hate doing this, but just bail - return; - } - } - else - { - // We don't know about this terrain so either we are creating a new terrain or - // our mega-prim child is giving us a new terrain to add to the phys world - - // if this is a child terrain, calculate a unique terrain id - uint newTerrainID = id; - if (newTerrainID >= BSScene.CHILDTERRAIN_ID) - newTerrainID = ++m_terrainCount; - - DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}", - BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); - BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); - m_terrains.Add(terrainRegionBase, newTerrainPhys); - - m_terrainModified = true; - } - } - } - - // TODO: redo terrain implementation selection to allow other base types than heightMap. - private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) - { - PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", - LogHeader, PhysicsScene.RegionName, terrainRegionBase, - (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation); - BSTerrainPhys newTerrainPhys = null; - switch ((int)BSParam.TerrainImplementation) - { - case (int)BSTerrainPhys.TerrainImplementation.Heightmap: - newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, - heightMap, minCoords, maxCoords); - break; - case (int)BSTerrainPhys.TerrainImplementation.Mesh: - newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, - heightMap, minCoords, maxCoords); - break; - default: - PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", - LogHeader, - (int)BSParam.TerrainImplementation, - BSParam.TerrainImplementation, - PhysicsScene.RegionName, terrainRegionBase); - break; - } - return newTerrainPhys; - } - - // Return 'true' of this position is somewhere in known physical terrain space - public bool IsWithinKnownTerrain(Vector3 pos) - { - Vector3 terrainBaseXYZ; - BSTerrainPhys physTerrain; - return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ); - } - - // Given an X and Y, find the height of the terrain. - // Since we could be handling multiple terrains for a mega-region, - // the base of the region is calcuated assuming all regions are - // the same size and that is the default. - // Once the heightMapInfo is found, we have all the information to - // compute the offset into the array. - private float lastHeightTX = 999999f; - private float lastHeightTY = 999999f; - private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT; - public float GetTerrainHeightAtXYZ(Vector3 pos) - { - float tX = pos.X; - float tY = pos.Y; - // You'd be surprized at the number of times this routine is called - // with the same parameters as last time. - if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY)) - return lastHeight; - m_terrainModified = false; - - lastHeightTX = tX; - lastHeightTY = tY; - float ret = HEIGHT_GETHEIGHT_RET; - - Vector3 terrainBaseXYZ; - BSTerrainPhys physTerrain; - if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ)) - { - ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ); - } - else - { - PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", - LogHeader, PhysicsScene.RegionName, tX, tY); - DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}", - BSScene.DetailLogZero, pos, terrainBaseXYZ); - } - - lastHeight = ret; - return ret; - } - - public float GetWaterLevelAtXYZ(Vector3 pos) - { - float ret = WATER_HEIGHT_GETHEIGHT_RET; - - Vector3 terrainBaseXYZ; - BSTerrainPhys physTerrain; - if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ)) - { - ret = physTerrain.GetWaterLevelAtXYZ(pos); - } - else - { - PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}", - LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret); - } - return ret; - } - - // Given an address, return 'true' of there is a description of that terrain and output - // the descriptor class and the 'base' fo the addresses therein. - private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase) - { - int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; - int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; - Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f); - - BSTerrainPhys physTerrain = null; - lock (m_terrains) - { - m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain); - } - outTerrainBase = terrainBaseXYZ; - outPhysTerrain = physTerrain; - return (physTerrain != null); - } - - // Although no one seems to check this, I do support combining. - public bool SupportsCombining() - { - return true; - } - - // This routine is called two ways: - // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum - // extent of the combined regions. This is to inform the parent of the size - // of the combined regions. - // and one with 'offset' as the offset of the child region to the base region, - // 'pScene' pointing to the parent and 'extents' of zero. This informs the - // child of its relative base and new parent. - public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) - { - m_worldOffset = offset; - m_worldMax = extents; - MegaRegionParentPhysicsScene = pScene; - if (pScene != null) - { - // We are a child. - // We want m_worldMax to be the highest coordinate of our piece of terrain. - m_worldMax = offset + DefaultRegionSize; - } - DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}", - BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax); - } - - // Unhook all the combining that I know about. - public void UnCombine(PhysicsScene pScene) - { - // Just like ODE, we don't do anything yet. - DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero); - } - - - private void DetailLog(string msg, params Object[] args) - { - PhysicsScene.PhysicsLogging.Write(msg, args); - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs deleted file mode 100644 index 6083dd4..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs +++ /dev/null @@ -1,267 +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 OpenSim.Framework; -using OpenSim.Region.Framework; -using OpenSim.Region.CoreModules; -using OpenSim.Region.Physics.Manager; - -using Nini.Config; -using log4net; - -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ -public sealed class BSTerrainMesh : BSTerrainPhys -{ - static string LogHeader = "[BULLETSIM TERRAIN MESH]"; - - private float[] m_savedHeightMap; - int m_sizeX; - int m_sizeY; - - BulletShape m_terrainShape; - BulletBody m_terrainBody; - - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) - : base(physicsScene, regionBase, id) - { - } - - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */) - : base(physicsScene, regionBase, id) - { - } - - // Create terrain mesh from a heightmap. - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, - Vector3 minCoords, Vector3 maxCoords) - : base(physicsScene, regionBase, id) - { - int indicesCount; - int[] indices; - int verticesCount; - float[] vertices; - - m_savedHeightMap = initialMap; - - m_sizeX = (int)(maxCoords.X - minCoords.X); - m_sizeY = (int)(maxCoords.Y - minCoords.Y); - - if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, - m_sizeX, m_sizeY, - (float)m_sizeX, (float)m_sizeY, - Vector3.Zero, 1.0f, - out indicesCount, out indices, out verticesCount, out vertices)) - { - // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID); - PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); - // Something is very messed up and a crash is in our future. - return; - } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", - ID, indicesCount, indices.Length, verticesCount, vertices.Length); - - m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, - indicesCount, indices, verticesCount, vertices), - BSPhysicsShapeType.SHAPE_MESH); - if (!m_terrainShape.HasPhysicalShape) - { - // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); - physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); - // Something is very messed up and a crash is in our future. - return; - } - - Vector3 pos = regionBase; - Quaternion rot = Quaternion.Identity; - - m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot)); - if (!m_terrainBody.HasPhysicalBody) - { - // DISASTER!! - physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); - // Something is very messed up and a crash is in our future. - return; - } - - // Set current terrain attributes - BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction); - BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction); - BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution); - BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - - // Static objects are not very massive. - BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); - - // Put the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr, pos, rot); - - // Redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); - - m_terrainBody.collisionType = CollisionType.Terrain; - m_terrainBody.ApplyCollisionMask(); - - // Make it so the terrain will not move or be considered for movement. - BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); - } - - public override void Dispose() - { - if (m_terrainBody.HasPhysicalBody) - { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); - // Frees both the body and the shape. - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr); - } - } - - public override float GetTerrainHeightAtXYZ(Vector3 pos) - { - // For the moment use the saved heightmap to get the terrain height. - // TODO: raycast downward to find the true terrain below the position. - float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - - int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X; - try - { - ret = m_savedHeightMap[mapIndex]; - } - catch - { - // Sometimes they give us wonky values of X and Y. Give a warning and return something. - PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", - LogHeader, TerrainBase, pos); - ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - } - return ret; - } - - // The passed position is relative to the base of the region. - public override float GetWaterLevelAtXYZ(Vector3 pos) - { - return PhysicsScene.SimpleWaterLevel; - } - - // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). - // Return 'true' if successfully created. - public static bool ConvertHeightmapToMesh( - BSScene physicsScene, - float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap - float extentX, float extentY, // zero based range for output vertices - Vector3 extentBase, // base to be added to all vertices - float magnification, // number of vertices to create between heightMap coords - out int indicesCountO, out int[] indicesO, - out int verticesCountO, out float[] verticesO) - { - bool ret = false; - - int indicesCount = 0; - int verticesCount = 0; - int[] indices = new int[0]; - float[] vertices = new float[0]; - - // Simple mesh creation which assumes magnification == 1. - // TODO: do a more general solution that scales, adds new vertices and smoothes the result. - - // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop - // from zero to <= sizeX). The triangle indices are then generated as two triangles - // per heightmap point. There are sizeX by sizeY of these squares. The extra row and - // column of vertices are used to complete the triangles of the last row and column - // of the heightmap. - try - { - // One vertice per heightmap value plus the vertices off the top and bottom edge. - int totalVertices = (sizeX + 1) * (sizeY + 1); - vertices = new float[totalVertices * 3]; - int totalIndices = sizeX * sizeY * 6; - indices = new int[totalIndices]; - - float magX = (float)sizeX / extentX; - float magY = (float)sizeY / extentY; - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}", - BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY); - float minHeight = float.MaxValue; - // Note that sizeX+1 vertices are created since there is land between this and the next region. - for (int yy = 0; yy <= sizeY; yy++) - { - for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we go around sizeX + 1 times - { - int offset = yy * sizeX + xx; - // Extend the height with the height from the last row or column - if (yy == sizeY) offset -= sizeX; - if (xx == sizeX) offset -= 1; - float height = heightMap[offset]; - minHeight = Math.Min(minHeight, height); - vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; - vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; - vertices[verticesCount + 2] = height + extentBase.Z; - verticesCount += 3; - } - } - verticesCount = verticesCount / 3; - - for (int yy = 0; yy < sizeY; yy++) - { - for (int xx = 0; xx < sizeX; xx++) - { - int offset = yy * (sizeX + 1) + xx; - // Each vertices is presumed to be the upper left corner of a box of two triangles - indices[indicesCount + 0] = offset; - indices[indicesCount + 1] = offset + 1; - indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column - indices[indicesCount + 3] = offset + 1; - indices[indicesCount + 4] = offset + sizeX + 2; - indices[indicesCount + 5] = offset + sizeX + 1; - indicesCount += 6; - } - } - - ret = true; - } - catch (Exception e) - { - physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", - LogHeader, physicsScene.RegionName, extentBase, e); - } - - indicesCountO = indicesCount; - indicesO = indices; - verticesCountO = verticesCount; - verticesO = vertices; - - return ret; - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs deleted file mode 100644 index 93643c9..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs +++ /dev/null @@ -1,1603 +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.IO; -using System.Runtime.InteropServices; -using System.Security; -using System.Text; -using BulletXNA; -using OpenMetaverse; -using BulletXNA.LinearMath; -using BulletXNA.BulletCollision; -using BulletXNA.BulletDynamics; -using BulletXNA.BulletCollision.CollisionDispatch; -using OpenSim.Framework; - -namespace OpenSim.Region.Physics.BulletSNPlugin { - -// Classes to allow some type checking for the API -// These hold pointers to allocated objects in the unmanaged space. - - - - // Constraint type values as defined by Bullet -public enum ConstraintType : int -{ - POINT2POINT_CONSTRAINT_TYPE = 3, - HINGE_CONSTRAINT_TYPE, - CONETWIST_CONSTRAINT_TYPE, - D6_CONSTRAINT_TYPE, - SLIDER_CONSTRAINT_TYPE, - CONTACT_CONSTRAINT_TYPE, - D6_SPRING_CONSTRAINT_TYPE, - MAX_CONSTRAINT_TYPE -} - -// =============================================================================== -[StructLayout(LayoutKind.Sequential)] -public struct ConvexHull -{ - Vector3 Offset; - int VertexCount; - Vector3[] Vertices; -} -public enum BSPhysicsShapeType -{ - SHAPE_UNKNOWN = 0, - SHAPE_CAPSULE = 1, - SHAPE_BOX = 2, - SHAPE_CONE = 3, - SHAPE_CYLINDER = 4, - SHAPE_SPHERE = 5, - SHAPE_MESH = 6, - SHAPE_HULL = 7, - // following defined by BulletSim - SHAPE_GROUNDPLANE = 20, - SHAPE_TERRAIN = 21, - SHAPE_COMPOUND = 22, - SHAPE_HEIGHTMAP = 23, -}; - -// The native shapes have predefined shape hash keys -public enum FixedShapeKey : ulong -{ - KEY_NONE = 0, - KEY_BOX = 1, - KEY_SPHERE = 2, - KEY_CONE = 3, - KEY_CYLINDER = 4, - KEY_CAPSULE = 5, -} - -[StructLayout(LayoutKind.Sequential)] -public struct ShapeData -{ - public uint ID; - public BSPhysicsShapeType Type; - public Vector3 Position; - public Quaternion Rotation; - public Vector3 Velocity; - public Vector3 Scale; - public float Mass; - public float Buoyancy; - public System.UInt64 HullKey; - public System.UInt64 MeshKey; - public float Friction; - public float Restitution; - public float Collidable; // true of things bump into this - public float Static; // true if a static object. Otherwise gravity, etc. - public float Solid; // true if object cannot be passed through - public Vector3 Size; - - // note that bools are passed as floats since bool size changes by language and architecture - public const float numericTrue = 1f; - public const float numericFalse = 0f; -} -[StructLayout(LayoutKind.Sequential)] -public struct SweepHit -{ - public uint ID; - public float Fraction; - public Vector3 Normal; - public Vector3 Point; -} -[StructLayout(LayoutKind.Sequential)] -public struct RaycastHit -{ - public uint ID; - public float Fraction; - public Vector3 Normal; -} -[StructLayout(LayoutKind.Sequential)] -public struct CollisionDesc -{ - public uint aID; - public uint bID; - public Vector3 point; - public Vector3 normal; -} -[StructLayout(LayoutKind.Sequential)] -public struct EntityProperties -{ - public uint ID; - public Vector3 Position; - public Quaternion Rotation; - public Vector3 Velocity; - public Vector3 Acceleration; - public Vector3 RotationalVelocity; - public override string ToString() - { - return string.Format("ID:{0}, Pos:<{1:F},{2:F},{3:F}>, Rot:<{4:F},{5:F},{6:F},{7:F}>, LVel:<{8:F},{9:F},{10:F}>, AVel:<{11:F},{12:F},{13:F}>", - ID.ToString(), - Position.X,Position.Y,Position.Z, - Rotation.X,Rotation.Y,Rotation.Z,Rotation.W, - Velocity.X,Velocity.Y,Velocity.Z, - RotationalVelocity.X,RotationalVelocity.Y,RotationalVelocity.Z - ); - } -} - -// Format of this structure must match the definition in the C++ code -// NOTE: adding the X causes compile breaks if used. These are unused symbols -// that can be removed from both here and the unmanaged definition of this structure. -[StructLayout(LayoutKind.Sequential)] -public struct ConfigurationParameters -{ - public float defaultFriction; - public float defaultDensity; - public float defaultRestitution; - public float collisionMargin; - public float gravity; - - public float XlinearDamping; - public float XangularDamping; - public float XdeactivationTime; - public float XlinearSleepingThreshold; - public float XangularSleepingThreshold; - public float XccdMotionThreshold; - public float XccdSweptSphereRadius; - public float XcontactProcessingThreshold; - - public float XterrainImplementation; - public float XterrainFriction; - public float XterrainHitFraction; - public float XterrainRestitution; - public float XterrainCollisionMargin; - - public float XavatarFriction; - public float XavatarStandingFriction; - public float XavatarDensity; - public float XavatarRestitution; - public float XavatarCapsuleWidth; - public float XavatarCapsuleDepth; - public float XavatarCapsuleHeight; - public float XavatarContactProcessingThreshold; - - public float XvehicleAngularDamping; - - public float maxPersistantManifoldPoolSize; - public float maxCollisionAlgorithmPoolSize; - public float shouldDisableContactPoolDynamicAllocation; - public float shouldForceUpdateAllAabbs; - public float shouldRandomizeSolverOrder; - public float shouldSplitSimulationIslands; - public float shouldEnableFrictionCaching; - public float numberOfSolverIterations; - - public float XlinksetImplementation; - public float XlinkConstraintUseFrameOffset; - public float XlinkConstraintEnableTransMotor; - public float XlinkConstraintTransMotorMaxVel; - public float XlinkConstraintTransMotorMaxForce; - public float XlinkConstraintERP; - public float XlinkConstraintCFM; - public float XlinkConstraintSolverIterations; - - public float physicsLoggingFrames; - - public const float numericTrue = 1f; - public const float numericFalse = 0f; -} - - -// The states a bullet collision object can have - -public enum ActivationState : uint -{ - UNDEFINED = 0, - ACTIVE_TAG = 1, - ISLAND_SLEEPING = 2, - WANTS_DEACTIVATION = 3, - DISABLE_DEACTIVATION = 4, - DISABLE_SIMULATION = 5, -} - -public enum CollisionObjectTypes : int -{ - CO_COLLISION_OBJECT = 1 << 0, - CO_RIGID_BODY = 1 << 1, - CO_GHOST_OBJECT = 1 << 2, - CO_SOFT_BODY = 1 << 3, - CO_HF_FLUID = 1 << 4, - CO_USER_TYPE = 1 << 5, -} - -// Values used by Bullet and BulletSim to control object properties. -// Bullet's "CollisionFlags" has more to do with operations on the -// object (if collisions happen, if gravity effects it, ...). - [Flags] -public enum CollisionFlags : uint -{ - CF_STATIC_OBJECT = 1 << 0, - CF_KINEMATIC_OBJECT = 1 << 1, - CF_NO_CONTACT_RESPONSE = 1 << 2, - CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3, - CF_CHARACTER_OBJECT = 1 << 4, - CF_DISABLE_VISUALIZE_OBJECT = 1 << 5, - CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, - // Following used by BulletSim to control collisions and updates - BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, - BS_FLOATS_ON_WATER = 1 << 11, - BS_VEHICLE_COLLISIONS = 1 << 12, - BS_NONE = 0, - BS_ALL = 0xFFFFFFFF, - - // These are the collision flags switched depending on physical state. - // The other flags are used for other things and should not be fooled with. - BS_ACTIVE = CF_STATIC_OBJECT - | CF_KINEMATIC_OBJECT - | CF_NO_CONTACT_RESPONSE -}; - -// Values for collisions groups and masks -public enum CollisionFilterGroups : uint -{ - // Don't use the bit definitions!! Define the use in a - // filter/mask definition below. This way collision interactions - // are more easily debugged. - BNoneGroup = 0, - BDefaultGroup = 1 << 0, - BStaticGroup = 1 << 1, - BKinematicGroup = 1 << 2, - BDebrisGroup = 1 << 3, - BSensorTrigger = 1 << 4, - BCharacterGroup = 1 << 5, - BAllGroup = 0xFFFFFFFF, - // Filter groups defined by BulletSim - BGroundPlaneGroup = 1 << 10, - BTerrainGroup = 1 << 11, - BRaycastGroup = 1 << 12, - BSolidGroup = 1 << 13, - // BLinksetGroup = xx // a linkset proper is either static or dynamic - BLinksetChildGroup = 1 << 14, - // The collsion filters and masked are defined in one place -- don't want them scattered - AvatarGroup = BCharacterGroup, - AvatarMask = BAllGroup, - ObjectGroup = BSolidGroup, - ObjectMask = BAllGroup, - StaticObjectGroup = BStaticGroup, - StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much - LinksetGroup = BLinksetChildGroup, - LinksetMask = BAllGroup & ~BLinksetChildGroup, // linkset objects don't collide with each other - VolumeDetectGroup = BSensorTrigger, - VolumeDetectMask = ~BSensorTrigger, - TerrainGroup = BTerrainGroup, - TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide - GroundPlaneGroup = BGroundPlaneGroup, - GroundPlaneMask = BAllGroup - -}; - -// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 -// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. -public enum ConstraintParams : int -{ - BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730 - BT_CONSTRAINT_STOP_ERP, - BT_CONSTRAINT_CFM, - BT_CONSTRAINT_STOP_CFM, -}; -public enum ConstraintParamAxis : int -{ - AXIS_LINEAR_X = 0, - AXIS_LINEAR_Y, - AXIS_LINEAR_Z, - AXIS_ANGULAR_X, - AXIS_ANGULAR_Y, - AXIS_ANGULAR_Z, - AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls - AXIS_ANGULAR_ALL, - AXIS_ALL -}; - -// =============================================================================== -static class BulletSimAPI { - private static int m_collisionsThisFrame; - public delegate void DebugLogCallback(string msg); - /// - /// - /// - /// - /// - internal static bool RemoveObjectFromWorld2(object pWorld, object pBody) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body = pBody as RigidBody; - world.RemoveRigidBody(body); - return true; - } - - internal static void SetRestitution2(object pBody, float pRestitution) - { - RigidBody body = pBody as RigidBody; - body.SetRestitution(pRestitution); - } - - internal static void SetMargin2(object pShape, float pMargin) - { - CollisionShape shape = pShape as CollisionShape; - shape.SetMargin(pMargin); - } - - internal static void SetLocalScaling2(object pShape, Vector3 pScale) - { - CollisionShape shape = pShape as CollisionShape; - IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); - shape.SetLocalScaling(ref vec); - - } - - internal static void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold) - { - RigidBody body = pBody as RigidBody; - body.SetContactProcessingThreshold(contactprocessingthreshold); - } - - internal static void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold) - { - RigidBody body = pBody as RigidBody; - body.SetCcdMotionThreshold(pccdMotionThreashold); - } - - internal static void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius) - { - RigidBody body = pBody as RigidBody; - body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); - } - - internal static void SetAngularFactorV2(object pBody, Vector3 pAngularFactor) - { - RigidBody body = pBody as RigidBody; - body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); - } - - internal static CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) - { - CollisionObject body = pBody as CollisionObject; - CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); - existingcollisionFlags |= pcollisionFlags; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); - return (CollisionFlags) (uint) existingcollisionFlags; - } - - internal static void AddObjectToWorld2(object pWorld, object pBody) - { - RigidBody body = pBody as RigidBody; - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) - - world.AddRigidBody(body); - - //if (body.GetBroadphaseHandle() != null) - // world.UpdateSingleAabb(body); - } - - internal static void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation) - { - RigidBody body = pBody as RigidBody; - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) - - world.AddRigidBody(body); - IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); - IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, - _orientation.W); - IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); - mat._origin = vposition; - body.SetWorldTransform(mat); - //if (body.GetBroadphaseHandle() != null) - // world.UpdateSingleAabb(body); - } - - internal static void ForceActivationState2(object pBody, ActivationState pActivationState) - { - CollisionObject body = pBody as CollisionObject; - body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); - } - - internal static void UpdateSingleAabb2(object pWorld, object pBody) - { - CollisionObject body = pBody as CollisionObject; - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - world.UpdateSingleAabb(body); - } - - internal static bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask) - { - RigidBody body = pBody as RigidBody; - body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; - body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; - if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0) - return false; - return true; - } - - internal static void ClearAllForces2(object pBody) - { - CollisionObject body = pBody as CollisionObject; - IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); - body.SetInterpolationLinearVelocity(ref zeroVector); - body.SetInterpolationAngularVelocity(ref zeroVector); - IndexedMatrix bodytransform = body.GetWorldTransform(); - - body.SetInterpolationWorldTransform(ref bodytransform); - - if (body is RigidBody) - { - RigidBody rigidbody = body as RigidBody; - rigidbody.SetLinearVelocity(zeroVector); - rigidbody.SetAngularVelocity(zeroVector); - rigidbody.ClearForces(); - } - } - - internal static void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); - body.SetInterpolationAngularVelocity(ref vec); - } - - internal static void SetAngularVelocity2(object pBody, Vector3 pVector3) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); - body.SetAngularVelocity(ref vec); - } - - internal static void ClearForces2(object pBody) - { - RigidBody body = pBody as RigidBody; - body.ClearForces(); - } - - internal static void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); - IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, - _orientation.W); - IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); - mat._origin = vposition; - body.SetWorldTransform(mat); - - } - - internal static Vector3 GetPosition2(object pBody) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; - return new Vector3(pos.X, pos.Y, pos.Z); - } - - internal static Vector3 CalculateLocalInertia2(object pShape, float pphysMass) - { - CollisionShape shape = pShape as CollisionShape; - IndexedVector3 inertia = IndexedVector3.Zero; - shape.CalculateLocalInertia(pphysMass, out inertia); - return new Vector3(inertia.X, inertia.Y, inertia.Z); - } - - internal static void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); - body.SetMassProps(pphysMass, inertia); - } - - - internal static void SetObjectForce2(object pBody, Vector3 _force) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); - body.SetTotalForce(ref force); - } - - internal static void SetFriction2(object pBody, float _currentFriction) - { - RigidBody body = pBody as RigidBody; - body.SetFriction(_currentFriction); - } - - internal static void SetLinearVelocity2(object pBody, Vector3 _velocity) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); - body.SetLinearVelocity(velocity); - } - - internal static void Activate2(object pBody, bool pforceactivation) - { - RigidBody body = pBody as RigidBody; - body.Activate(pforceactivation); - - } - - internal static Quaternion GetOrientation2(object pBody) - { - RigidBody body = pBody as RigidBody; - IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); - return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); - } - - internal static CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) - { - RigidBody body = pBody as RigidBody; - CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); - existingcollisionFlags &= ~pcollisionFlags; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); - return (CollisionFlags)(uint)existingcollisionFlags; - } - - internal static void SetGravity2(object pBody, Vector3 pGravity) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); - body.SetGravity(gravity); - } - - internal static bool DestroyConstraint2(object pBody, object pConstraint) - { - RigidBody body = pBody as RigidBody; - TypedConstraint constraint = pConstraint as TypedConstraint; - body.RemoveConstraintRef(constraint); - return true; - } - - internal static bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); - IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); - constraint.SetLinearLowerLimit(lowlimit); - constraint.SetLinearUpperLimit(highlimit); - return true; - } - - internal static bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); - IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); - constraint.SetAngularLowerLimit(lowlimit); - constraint.SetAngularUpperLimit(highlimit); - return true; - } - - internal static void SetConstraintNumSolverIterations2(object pConstraint, float cnt) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - constraint.SetOverrideNumSolverIterations((int)cnt); - } - - internal static void CalculateTransforms2(object pConstraint) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - constraint.CalculateTransforms(); - } - - internal static void SetConstraintEnable2(object pConstraint, float p_2) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - constraint.SetEnabled((p_2 == 0) ? false : true); - } - - - //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - internal static object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body1 = pBody1 as RigidBody; - RigidBody body2 = pBody2 as RigidBody; - IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); - IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); - IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); - frame1._origin = frame1v; - - IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); - IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); - IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); - frame2._origin = frame1v; - - Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, - puseLinearReferenceFrameA); - consttr.CalculateTransforms(); - world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); - - return consttr; - } - - - /// - /// - /// - /// - /// - /// - /// - /// - /// - /// - internal static object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body1 = pBody1 as RigidBody; - RigidBody body2 = pBody2 as RigidBody; - IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); - IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); - - IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); - IndexedMatrix mat = IndexedMatrix.Identity; - mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); - frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint; - frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint; - - Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); - consttr.CalculateTransforms(); - world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies); - - return consttr; - } - //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); - internal static void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); - IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); - IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); - frame1._origin = frame1v; - - IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); - IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); - IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); - frame2._origin = frame1v; - constraint.SetFrames(ref frame1, ref frame2); - } - - - - - internal static bool IsInWorld2(object pWorld, object pShapeObj) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - CollisionObject shape = pShapeObj as CollisionObject; - return world.IsInWorld(shape); - } - - internal static void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); - body.SetInterpolationLinearVelocity(ref velocity); - } - - internal static bool UseFrameOffset2(object pConstraint, float onOff) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - constraint.SetUseFrameOffset((onOff == 0) ? false : true); - return true; - } - //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); - internal static bool SetBreakingImpulseThreshold2(object pConstraint, float threshold) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - constraint.SetBreakingImpulseThreshold(threshold); - return true; - } - //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); - internal static void SetAngularDamping2(object pBody, float angularDamping) - { - RigidBody body = pBody as RigidBody; - float lineardamping = body.GetLinearDamping(); - body.SetDamping(lineardamping, angularDamping); - - } - - internal static void UpdateInertiaTensor2(object pBody) - { - RigidBody body = pBody as RigidBody; - body.UpdateInertiaTensor(); - } - - internal static void RecalculateCompoundShapeLocalAabb2( object pCompoundShape) - { - - CompoundShape shape = pCompoundShape as CompoundShape; - shape.RecalculateLocalAabb(); - } - - //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr) - internal static CollisionFlags GetCollisionFlags2(object pBody) - { - RigidBody body = pBody as RigidBody; - uint flags = (uint)body.GetCollisionFlags(); - return (CollisionFlags) flags; - } - - internal static void SetDamping2(object pBody, float pLinear, float pAngular) - { - RigidBody body = pBody as RigidBody; - body.SetDamping(pLinear, pAngular); - } - //PhysBody.ptr, PhysicsScene.Params.deactivationTime); - internal static void SetDeactivationTime2(object pBody, float pDeactivationTime) - { - RigidBody body = pBody as RigidBody; - body.SetDeactivationTime(pDeactivationTime); - } - //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); - internal static void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) - { - RigidBody body = pBody as RigidBody; - body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); - } - - internal static CollisionObjectTypes GetBodyType2(object pBody) - { - RigidBody body = pBody as RigidBody; - return (CollisionObjectTypes)(int) body.GetInternalType(); - } - - //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); - internal static void ApplyCentralForce2(object pBody, Vector3 pfSum) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyCentralForce(ref fSum); - } - internal static void ApplyCentralImpulse2(object pBody, Vector3 pfSum) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyCentralImpulse(ref fSum); - } - internal static void ApplyTorque2(object pBody, Vector3 pfSum) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyTorque(ref fSum); - } - internal static void ApplyTorqueImpulse2(object pBody, Vector3 pfSum) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyTorqueImpulse(ref fSum); - } - - internal static void DumpRigidBody2(object p, object p_2) - { - //TODO: - } - - internal static void DumpCollisionShape2(object p, object p_2) - { - //TODO: - } - - internal static void DestroyObject2(object p, object p_2) - { - //TODO: - } - - internal static void Shutdown2(object pWorld) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - world.Cleanup(); - } - - internal static void DeleteCollisionShape2(object p, object p_2) - { - //TODO: - } - //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); - - internal static object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) - { - CollisionWorld world = pWorld as CollisionWorld; - IndexedMatrix mat = - IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, - pRawOrientation.Z, pRawOrientation.W)); - mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); - CollisionShape shape = pShape as CollisionShape; - //UpdateSingleAabb2(world, shape); - // TODO: Feed Update array into null - RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero); - - body.SetUserPointer(pLocalID); - return body; - } - - - internal static object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) - { - - IndexedMatrix mat = - IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, - pRawOrientation.Z, pRawOrientation.W)); - mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); - - CollisionShape shape = pShape as CollisionShape; - - // TODO: Feed Update array into null - RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); - body.SetWorldTransform(mat); - body.SetUserPointer(pLocalID); - return body; - } - //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - internal static void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags) - { - RigidBody body = pBody as RigidBody; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); - } - //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - internal static void SetHitFraction2(object pBody, float pHitFraction) - { - RigidBody body = pBody as RigidBody; - body.SetHitFraction(pHitFraction); - } - //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); - internal static object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); - CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); - capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); - capsuleShapeZ.SetLocalScaling(ref scale); - - return capsuleShapeZ; - } - - public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List collisionArray, int mMaxUpdatesPerFrame, ref List updateArray, object mDebugLogCallbackHandle) - { - CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); - - p.angularDamping = o[0].XangularDamping; - p.defaultFriction = o[0].defaultFriction; - p.defaultFriction = o[0].defaultFriction; - p.defaultDensity = o[0].defaultDensity; - p.defaultRestitution = o[0].defaultRestitution; - p.collisionMargin = o[0].collisionMargin; - p.gravity = o[0].gravity; - - p.linearDamping = o[0].XlinearDamping; - p.angularDamping = o[0].XangularDamping; - p.deactivationTime = o[0].XdeactivationTime; - p.linearSleepingThreshold = o[0].XlinearSleepingThreshold; - p.angularSleepingThreshold = o[0].XangularSleepingThreshold; - p.ccdMotionThreshold = o[0].XccdMotionThreshold; - p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius; - p.contactProcessingThreshold = o[0].XcontactProcessingThreshold; - - p.terrainImplementation = o[0].XterrainImplementation; - p.terrainFriction = o[0].XterrainFriction; - - p.terrainHitFraction = o[0].XterrainHitFraction; - p.terrainRestitution = o[0].XterrainRestitution; - p.terrainCollisionMargin = o[0].XterrainCollisionMargin; - - p.avatarFriction = o[0].XavatarFriction; - p.avatarStandingFriction = o[0].XavatarStandingFriction; - p.avatarDensity = o[0].XavatarDensity; - p.avatarRestitution = o[0].XavatarRestitution; - p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth; - p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth; - p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight; - p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold; - - p.vehicleAngularDamping = o[0].XvehicleAngularDamping; - - p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; - p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; - p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; - p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs; - p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder; - p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands; - p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; - p.numberOfSolverIterations = o[0].numberOfSolverIterations; - - p.linksetImplementation = o[0].XlinksetImplementation; - p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset; - p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor; - p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel; - p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce; - p.linkConstraintERP = o[0].XlinkConstraintERP; - p.linkConstraintCFM = o[0].XlinkConstraintCFM; - p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations; - p.physicsLoggingFrames = o[0].physicsLoggingFrames; - DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); - - DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); - CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); - - - if (p.maxPersistantManifoldPoolSize > 0) - cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize; - if (p.shouldDisableContactPoolDynamicAllocation !=0) - m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); - //if (p.maxCollisionAlgorithmPoolSize >0 ) - - DbvtBroadphase m_broadphase = new DbvtBroadphase(); - //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0); - //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256); - - //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true); - m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); - - SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); - - DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); - world.UpdatedObjects = updateArray; - world.UpdatedCollisions = collisionArray; - world.WorldSettings.Params = p; - world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); - world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; - if (p.shouldRandomizeSolverOrder != 0) - world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER; - - world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0); - //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port - - if (p.shouldEnableFrictionCaching != 0) - world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; - - if (p.numberOfSolverIterations > 0) - world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations; - - - world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping; - world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution; - world.GetSolverInfo().m_globalCfm = 0.0f; - world.GetSolverInfo().m_tau = 0.6f; - world.GetSolverInfo().m_friction = 0.3f; - world.GetSolverInfo().m_maxErrorReduction = 20f; - world.GetSolverInfo().m_numIterations = 10; - world.GetSolverInfo().m_erp = 0.2f; - world.GetSolverInfo().m_erp2 = 0.1f; - world.GetSolverInfo().m_sor = 1.0f; - world.GetSolverInfo().m_splitImpulse = false; - world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f; - world.GetSolverInfo().m_linearSlop = 0.0f; - world.GetSolverInfo().m_warmstartingFactor = 0.85f; - world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; - world.SetForceUpdateAllAabbs(true); - - - world.SetGravity(new IndexedVector3(0,0,p.gravity)); - - return world; - } - //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL - internal static bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) - { - Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; - if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) - { - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2); - } - if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) - { - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5); - } - if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL) - { - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis); - } - return true; - } - - internal static bool PushUpdate2(object pCollisionObject) - { - bool ret = false; - RigidBody rb = pCollisionObject as RigidBody; - if (rb != null) - { - SimMotionState sms = rb.GetMotionState() as SimMotionState; - if (sms != null) - { - IndexedMatrix wt = IndexedMatrix.Identity; - sms.GetWorldTransform(out wt); - sms.SetWorldTransform(ref wt, true); - ret = true; - } - } - return ret; - - } - - internal static bool IsCompound2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsCompound(); - } - internal static bool IsPloyhedral2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsPolyhedral(); - } - internal static bool IsConvex2d2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsConvex2d(); - } - internal static bool IsConvex2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsConvex(); - } - internal static bool IsNonMoving2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsNonMoving(); - } - internal static bool IsConcave2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsConcave(); - } - internal static bool IsInfinite2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsInfinite(); - } - internal static bool IsNativeShape2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - bool ret; - switch (shape.GetShapeType()) - { - case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: - case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: - case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: - case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: - ret = true; - break; - default: - ret = false; - break; - } - return ret; - } - //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation - internal static object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) - { - IndexedMatrix bodyTransform = new IndexedMatrix(); - bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); - bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); - GhostObject gObj = new PairCachingGhostObject(); - gObj.SetWorldTransform(bodyTransform); - CollisionShape shape = pShape as CollisionShape; - gObj.SetCollisionShape(shape); - gObj.SetUserPointer(pLocalID); - // TODO: Add to Special CollisionObjects! - return gObj; - } - - public static void SetCollisionShape2(object pWorld, object pObj, object pShape) - { - var world = pWorld as DiscreteDynamicsWorld; - var obj = pObj as CollisionObject; - var shape = pShape as CollisionShape; - obj.SetCollisionShape(shape); - - } - //(PhysicsScene.World.ptr, nativeShapeData) - internal static object BuildNativeShape2(object pWorld, ShapeData pShapeData) - { - var world = pWorld as DiscreteDynamicsWorld; - CollisionShape shape = null; - switch (pShapeData.Type) - { - case BSPhysicsShapeType.SHAPE_BOX: - shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f)); - break; - case BSPhysicsShapeType.SHAPE_CONE: - shape = new ConeShapeZ(0.5f, 1.0f); - break; - case BSPhysicsShapeType.SHAPE_CYLINDER: - shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f)); - break; - case BSPhysicsShapeType.SHAPE_SPHERE: - shape = new SphereShape(0.5f); - break; - - } - if (shape != null) - { - IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z); - shape.SetMargin(world.WorldSettings.Params.collisionMargin); - shape.SetLocalScaling(ref scaling); - - } - return shape; - } - //PhysicsScene.World.ptr, false - internal static object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree) - { - return new CompoundShape(enableDynamicAabbTree); - } - - internal static int GetNumberOfCompoundChildren2(object pCompoundShape) - { - var compoundshape = pCompoundShape as CompoundShape; - return compoundshape.GetNumChildShapes(); - } - //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot - internal static void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot) - { - IndexedMatrix relativeTransform = new IndexedMatrix(); - var compoundshape = pCShape as CompoundShape; - var addshape = paddShape as CollisionShape; - - relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); - relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); - compoundshape.AddChildShape(ref relativeTransform, addshape); - - } - - internal static object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii) - { - var compoundshape = pCShape as CompoundShape; - CollisionShape ret = null; - ret = compoundshape.GetChildShape(pii); - compoundshape.RemoveChildShapeByIndex(pii); - return ret; - } - - internal static object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin) - { - StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); - m_planeshape.SetMargin(pcollisionMargin); - m_planeshape.SetUserPointer(pLocalId); - return m_planeshape; - } - - internal static object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - { - HingeConstraint constrain = null; - var rb1 = pBody1 as RigidBody; - var rb2 = ppBody2 as RigidBody; - if (rb1 != null && rb2 != null) - { - IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); - IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); - IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); - IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); - var world = pWorld as DiscreteDynamicsWorld; - world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); - } - return constrain; - } - - internal static bool ReleaseHeightMapInfo2(object pMapInfo) - { - if (pMapInfo != null) - { - BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; - if (mapinfo.heightMap != null) - mapinfo.heightMap = null; - - - } - return true; - } - - internal static object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls) - { - CompoundShape compoundshape = new CompoundShape(false); - var world = pWorld as DiscreteDynamicsWorld; - - - compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); - int ii = 1; - - for (int i = 0; i < pHullCount; i++) - { - int vertexCount = (int) pConvHulls[ii]; - - IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); - IndexedMatrix childTrans = IndexedMatrix.Identity; - childTrans._origin = centroid; - - List virts = new List(); - int ender = ((ii + 4) + (vertexCount*3)); - for (int iii = ii + 4; iii < ender; iii+=3) - { - - virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); - } - ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); - convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); - compoundshape.AddChildShape(ref childTrans, convexShape); - ii += (vertexCount*3 + 4); - } - - - return compoundshape; - } - - internal static object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) - { - //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); - - for (int iter = 0; iter < pVerticesCount; iter++) - { - if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; - if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; - } - - ObjectArray indicesarr = new ObjectArray(indices); - ObjectArray vertices = new ObjectArray(verticesAsFloats); - DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); - var world = pWorld as DiscreteDynamicsWorld; - IndexedMesh mesh = new IndexedMesh(); - mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; - mesh.m_numTriangles = pIndicesCount/3; - mesh.m_numVertices = pVerticesCount; - mesh.m_triangleIndexBase = indicesarr; - mesh.m_vertexBase = vertices; - mesh.m_vertexStride = 3; - mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; - mesh.m_triangleIndexStride = 3; - - TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); - tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); - BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); - meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); - // world.UpdateSingleAabb(meshShape); - return meshShape; - - } - public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount ) - { - - String fileName = "objTest3.raw"; - String completePath = System.IO.Path.Combine(Util.configDir(), fileName); - StreamWriter sw = new StreamWriter(completePath); - IndexedMesh mesh = new IndexedMesh(); - - mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; - mesh.m_numTriangles = pIndicesCount / 3; - mesh.m_numVertices = pVerticesCount; - mesh.m_triangleIndexBase = indices; - mesh.m_vertexBase = vertices; - mesh.m_vertexStride = 3; - mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; - mesh.m_triangleIndexStride = 3; - - TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); - tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); - - - - for (int i = 0; i < pVerticesCount; i++) - { - - string s = vertices[indices[i * 3]].ToString("0.0000"); - s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); - s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); - - sw.Write(s + "\n"); - } - - sw.Close(); - } - public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount) - { - - String fileName = "objTest6.raw"; - String completePath = System.IO.Path.Combine(Util.configDir(), fileName); - StreamWriter sw = new StreamWriter(completePath); - IndexedMesh mesh = new IndexedMesh(); - - mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; - mesh.m_numTriangles = pIndicesCount / 3; - mesh.m_numVertices = pVerticesCount; - mesh.m_triangleIndexBase = indices; - mesh.m_vertexBase = vertices; - mesh.m_vertexStride = 3; - mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; - mesh.m_triangleIndexStride = 3; - - TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); - tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); - - - sw.WriteLine("Indices"); - sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount)); - for (int iter = 0; iter < indices.Length; iter++) - { - sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter])); - } - sw.WriteLine("VerticesFloats"); - sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount)); - for (int iter = 0; iter < vertices.Length; iter++) - { - sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000"))); - } - - // for (int i = 0; i < pVerticesCount; i++) - // { - // - // string s = vertices[indices[i * 3]].ToString("0.0000"); - // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); - // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); - // - // sw.Write(s + "\n"); - //} - - sw.Close(); - } - //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin - internal static object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin) - { - BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null); - mapInfo.heightMap = null; - mapInfo.minCoords = pminCoords; - mapInfo.maxCoords = pmaxCoords; - mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X); - mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y); - mapInfo.ID = pId; - mapInfo.minZ = pminCoords.Z; - mapInfo.maxZ = pmaxCoords.Z; - mapInfo.collisionMargin = pCollisionMargin; - if (mapInfo.minZ == mapInfo.maxZ) - mapInfo.minZ -= 0.2f; - mapInfo.heightMap = pheightMap; - - return mapInfo; - - } - - internal static object CreateTerrainShape2(object pMapInfo) - { - BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; - const int upAxis = 2; - const float scaleFactor = 1.0f; - HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY, - mapinfo.heightMap, scaleFactor, - mapinfo.minZ, mapinfo.maxZ, upAxis, - false); - terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f); - terrainShape.SetUseDiamondSubdivision(true); - terrainShape.SetUserPointer(mapinfo.ID); - return terrainShape; - } - - internal static bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce) - { - TypedConstraint tconstrain = pConstraint as TypedConstraint; - bool onOff = ponOff != 0; - bool ret = false; - - switch (tconstrain.GetConstraintType()) - { - case TypedConstraintType.D6_CONSTRAINT_TYPE: - Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; - constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff; - constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity; - constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce; - ret = true; - break; - } - - - return ret; - - } - - internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out Listcolliders) - { - int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, - out collidersCount, out colliders); - return epic; - } - - private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out List colliders) - { - int numSimSteps = 0; - - - //if (updatedEntities is null) - // updatedEntities = new List(); - - //if (colliders is null) - // colliders = new List(); - - - if (pWorld is DiscreteDynamicsWorld) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - - numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); - int updates = 0; - - updatedEntityCount = world.UpdatedObjects.Count; - updatedEntities = new List(world.UpdatedObjects); - updatedEntityCount = updatedEntities.Count; - world.UpdatedObjects.Clear(); - - - collidersCount = world.UpdatedCollisions.Count; - colliders = new List(world.UpdatedCollisions); - - world.UpdatedCollisions.Clear(); - m_collisionsThisFrame = 0; - int numManifolds = world.GetDispatcher().GetNumManifolds(); - for (int j = 0; j < numManifolds; j++) - { - PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); - int numContacts = contactManifold.GetNumContacts(); - if (numContacts == 0) - continue; - - CollisionObject objA = contactManifold.GetBody0() as CollisionObject; - CollisionObject objB = contactManifold.GetBody1() as CollisionObject; - - ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0); - IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); - IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A - - RecordCollision(world, objA, objB, contactPoint, contactNormal); - m_collisionsThisFrame ++; - if (m_collisionsThisFrame >= 9999999) - break; - - - } - - - } - else - { - //if (updatedEntities is null) - updatedEntities = new List(); - updatedEntityCount = 0; - //if (colliders is null) - colliders = new List(); - collidersCount = 0; - } - return numSimSteps; - } - - private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) - { - - IndexedVector3 contactNormal = norm; - if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && - (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) - { - return; - } - uint idA = (uint)objA.GetUserPointer(); - uint idB = (uint)objB.GetUserPointer(); - if (idA > idB) - { - uint temp = idA; - idA = idB; - idB = temp; - contactNormal = -contactNormal; - } - - ulong collisionID = ((ulong) idA << 32) | idB; - - BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc() - { - aID = idA, - bID = idB, - point = contact, - normal = contactNormal - }; - world.UpdatedCollisions.Add(cDesc); - m_collisionsThisFrame++; - - - } - private static EntityProperties GetDebugProperties(object pWorld, object pBody) - { - EntityProperties ent = new EntityProperties(); - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body = pBody as RigidBody; - IndexedMatrix transform = body.GetWorldTransform(); - IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity(); - IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity(); - IndexedQuaternion rotation = transform.GetRotation(); - ent.Acceleration = Vector3.Zero; - ent.ID = (uint)body.GetUserPointer(); - ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); - ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); - ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); - ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z); - return ent; - - - } - - - internal static Vector3 GetLocalScaling2(object pBody) - { - CollisionShape shape = pBody as CollisionShape; - IndexedVector3 scale = shape.GetLocalScaling(); - return new Vector3(scale.X,scale.Y,scale.Z); - } - - internal static bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe) - { - DynamicsWorld world = pWorld as DynamicsWorld; - if (world != null) - { - if (NotMe is CollisionObject || NotMe is RigidBody) - { - CollisionObject AvoidBody = NotMe as CollisionObject; - - IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); - IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); - using ( - ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin, - rEnd, AvoidBody) - ) - { - world.RayTest(ref rOrigin, ref rEnd, rayCallback); - if (rayCallback.HasHit()) - { - IndexedVector3 hitLocation = rayCallback.m_hitPointWorld; - - } - return rayCallback.HasHit(); - } - } - } - return false; - } -} -} diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs deleted file mode 100644 index f509dc4..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs +++ /dev/null @@ -1,280 +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 -{ -// Classes to allow some type checking for the API -// These hold pointers to allocated objects in the unmanaged space. - -// The physics engine controller class created at initialization -public struct BulletWorld -{ - public BulletWorld(uint worldId, BSScene bss, object xx) - { - ptr = xx; - worldID = worldId; - physicsScene = bss; - } - public object ptr; - public uint worldID; - // The scene is only in here so very low level routines have a handle to print debug/error messages - public BSScene physicsScene; -} - -// An allocated Bullet btRigidBody -public struct BulletBody -{ - public BulletBody(uint id) : this(id, null) - { - } - public BulletBody(uint id, object xx) - { - ID = id; - ptr = xx; - collisionType = CollisionType.Static; - } - public object ptr; - public uint ID; - public CollisionType collisionType; - - public void Clear() - { - ptr = null; - } - public bool HasPhysicalBody { get { return ptr != null; } } - - // Apply the specificed collision mask into the physical world - public void ApplyCollisionMask() - { - // Should assert the body has been added to the physical world. - // (The collision masks are stored in the collision proxy cache which only exists for - // a collision body that is in the world.) - BulletSimAPI.SetCollisionGroupMask2(ptr, - BulletSimData.CollisionTypeMasks[collisionType].group, - BulletSimData.CollisionTypeMasks[collisionType].mask); - } - - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -} - -public struct BulletShape -{ - public BulletShape(object xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN) - { - } - public BulletShape(object xx, BSPhysicsShapeType typ) - { - ptr = xx; - type = typ; - shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; - isNativeShape = false; - } - public object ptr; - public BSPhysicsShapeType type; - public System.UInt64 shapeKey; - public bool isNativeShape; - - public void Clear() - { - ptr = null; - } - public bool HasPhysicalShape { get { return ptr != null; } } - - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -} - -// An allocated Bullet btConstraint -public struct BulletConstraint -{ - public BulletConstraint(object xx) - { - ptr = xx; - } - public object ptr; - - public void Clear() - { - ptr = null; - } - public bool HasPhysicalConstraint { get { return ptr != null; } } -} - -// An allocated HeightMapThing which holds various heightmap info. -// Made a class rather than a struct so there would be only one -// instance of this and C# will pass around pointers rather -// than making copies. -public class BulletHeightMapInfo -{ - public BulletHeightMapInfo(uint id, float[] hm, object xx) { - ID = id; - Ptr = xx; - heightMap = hm; - terrainRegionBase = OMV.Vector3.Zero; - minCoords = new OMV.Vector3(100f, 100f, 25f); - maxCoords = new OMV.Vector3(101f, 101f, 26f); - minZ = maxZ = 0f; - sizeX = sizeY = 256f; - } - public uint ID; - public object Ptr; - public float[] heightMap; - public OMV.Vector3 terrainRegionBase; - public OMV.Vector3 minCoords; - public OMV.Vector3 maxCoords; - public float sizeX, sizeY; - public float minZ, maxZ; - public BulletShape terrainShape; - public BulletBody terrainBody; - - public float collisionMargin { get; set; } -} - -// The general class of collsion object. -public enum CollisionType -{ - Avatar, - Groundplane, - Terrain, - Static, - Dynamic, - VolumeDetect, - // Linkset, // A linkset should be either Static or Dynamic - LinksetChild, - Unknown -}; - -// Hold specification of group and mask collision flags for a CollisionType -public struct CollisionTypeFilterGroup -{ - public CollisionTypeFilterGroup(CollisionType t, uint g, uint m) - { - type = t; - group = g; - mask = m; - } - public CollisionType type; - public uint group; - public uint mask; -}; - - /* NOTE: old definitions kept for reference. Delete when things are working. - // The collsion filters and masked are defined in one place -- don't want them scattered - AvatarGroup = BCharacterGroup, - AvatarMask = BAllGroup, - ObjectGroup = BSolidGroup, - ObjectMask = BAllGroup, - StaticObjectGroup = BStaticGroup, - StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much - LinksetGroup = BLinksetGroup, - LinksetMask = BAllGroup, - LinksetChildGroup = BLinksetChildGroup, - LinksetChildMask = BNoneGroup, // Linkset children disappear from the world - VolumeDetectGroup = BSensorTrigger, - VolumeDetectMask = ~BSensorTrigger, - TerrainGroup = BTerrainGroup, - TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide - GroundPlaneGroup = BGroundPlaneGroup, - GroundPlaneMask = BAllGroup - */ - -public static class BulletSimData -{ - -// Map of collisionTypes to flags for collision groups and masks. -// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code -// but, instead, use references to this dictionary. Finding and debugging -// collision flag problems will be made easier. -public static Dictionary CollisionTypeMasks - = new Dictionary() -{ - { CollisionType.Avatar, - new CollisionTypeFilterGroup(CollisionType.Avatar, - (uint)CollisionFilterGroups.BCharacterGroup, - (uint)CollisionFilterGroups.BAllGroup) - }, - { CollisionType.Groundplane, - new CollisionTypeFilterGroup(CollisionType.Groundplane, - (uint)CollisionFilterGroups.BGroundPlaneGroup, - (uint)CollisionFilterGroups.BAllGroup) - }, - { CollisionType.Terrain, - new CollisionTypeFilterGroup(CollisionType.Terrain, - (uint)CollisionFilterGroups.BTerrainGroup, - (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup)) - }, - { CollisionType.Static, - new CollisionTypeFilterGroup(CollisionType.Static, - (uint)CollisionFilterGroups.BStaticGroup, - (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) - }, - { CollisionType.Dynamic, - new CollisionTypeFilterGroup(CollisionType.Dynamic, - (uint)CollisionFilterGroups.BSolidGroup, - (uint)(CollisionFilterGroups.BAllGroup)) - }, - { CollisionType.VolumeDetect, - new CollisionTypeFilterGroup(CollisionType.VolumeDetect, - (uint)CollisionFilterGroups.BSensorTrigger, - (uint)(~CollisionFilterGroups.BSensorTrigger)) - }, - { CollisionType.LinksetChild, - new CollisionTypeFilterGroup(CollisionType.LinksetChild, - (uint)CollisionFilterGroups.BTerrainGroup, - (uint)(CollisionFilterGroups.BNoneGroup)) - }, -}; - -} -} -- cgit v1.1