From fe16dc09da3f2736fad5a9e792f5f81098b5f9a1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Apr 2013 08:27:49 -0700 Subject: BulletSim: complete movement of physical object action code out of the physical object and into actors for setForce, setTorque, hover, lock axis and avatar move. --- .../Physics/BulletSPlugin/BSActorMoveToTarget.cs | 156 +++++++++++++++++++++ 1 file changed, 156 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs new file mode 100755 index 0000000..3517ef2 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs @@ -0,0 +1,156 @@ +/* + * 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; + +using OpenSim.Region.Physics.Manager; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorMoveToTarget : BSActor +{ + private BSVMotor m_targetMotor; + + public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj, actorName) + { + m_targetMotor = null; + m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID); + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Dispose() + public override void Dispose() + { + Enabled = false; + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID); + + // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) + if (!m_controllingPrim.HoverActive) + { + m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,notMoveToTarget,removing={1}", m_controllingPrim.LocalID, ActorName); + m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); + return; + } + + // If the object is physically active, add the hoverer prestep action + if (isActive) + { + ActivateMoveToTarget(); + } + else + { + DeactivateMoveToTarget(); + } + } + + // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). + // Register a prestep action to restore physical requirements before the next simulation step. + // Called at taint-time. + // BSActor.RemoveBodyDependencies() + public override void RemoveBodyDependencies() + { + // Nothing to do for the hoverer since it is all software at pre-step action time. + } + + // If a hover motor has not been created, create one and start the hovering. + private void ActivateMoveToTarget() + { + if (m_targetMotor == null) + { + // We're taking over after this. + m_controllingPrim.ZeroMotion(true); + + m_targetMotor = new BSVMotor("BSPrim.PIDTarget", + m_controllingPrim.MoveToTargetTau, // timeScale + BSMotor.Infinite, // decay time scale + BSMotor.InfiniteVector, // friction timescale + 1f // efficiency + ); + m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages. + m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget); + m_targetMotor.SetCurrent(m_controllingPrim.RawPosition); + + m_physicsScene.BeforeStep += Mover; + } + } + + private void DeactivateMoveToTarget() + { + if (m_targetMotor != null) + { + m_physicsScene.BeforeStep -= Mover; + m_targetMotor = null; + } + } + + // Called just before the simulation step. Update the vertical position for hoverness. + private void Mover(float timeStep) + { + // Don't do hovering while the object is selected. + if (!isActive) + return; + + OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below) + + // 'movePosition' is where we'd like the prim to be at this moment. + OMV.Vector3 movePosition = m_controllingPrim.RawPosition + m_targetMotor.Step(timeStep); + + // If we are very close to our target, turn off the movement motor. + if (m_targetMotor.ErrorIsZero()) + { + m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}", + m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass); + m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; + m_targetMotor.Enabled = false; + } + else + { + m_controllingPrim.ForcePosition = movePosition; + } + m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition); + } +} +} -- cgit v1.1 From a7a1b8b7e9269b446e3396a35153b00942c1e35b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Apr 2013 14:05:35 -0700 Subject: BulletSim: clean up actor code so routines use the same coding pattern. Fix a few enabling problems. --- OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs index 3517ef2..16c2b14 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs @@ -67,15 +67,12 @@ public class BSActorMoveToTarget : BSActor { m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID); - // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) - if (!m_controllingPrim.HoverActive) + // If not active any more... + if (!m_controllingPrim.MoveToTargetActive) { - m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,notMoveToTarget,removing={1}", m_controllingPrim.LocalID, ActorName); - m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); - return; + Enabled = false; } - // If the object is physically active, add the hoverer prestep action if (isActive) { ActivateMoveToTarget(); @@ -92,7 +89,7 @@ public class BSActorMoveToTarget : BSActor // BSActor.RemoveBodyDependencies() public override void RemoveBodyDependencies() { - // Nothing to do for the hoverer since it is all software at pre-step action time. + // Nothing to do for the moveToTarget since it is all software at pre-step action time. } // If a hover motor has not been created, create one and start the hovering. @@ -144,7 +141,6 @@ public class BSActorMoveToTarget : BSActor m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}", m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass); m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; - m_targetMotor.Enabled = false; } else { -- cgit v1.1 From 5f2cbfc0fd27198f8f05f4a9a4e2908d8b11752e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 9 Apr 2013 17:53:18 -0700 Subject: BulletSim: fixing problems with llMoveToTarget. Not all fixed yet. --- .../Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs index 16c2b14..56aacc5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs @@ -50,7 +50,7 @@ public class BSActorMoveToTarget : BSActor // BSActor.isActive public override bool isActive { - get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + get { return Enabled; } } // Release any connections and resources used by the actor. @@ -65,7 +65,9 @@ public class BSActorMoveToTarget : BSActor // BSActor.Refresh() public override void Refresh() { - m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID); + m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,enabled={1},active={2},target={3},tau={4}", + m_controllingPrim.LocalID, Enabled, m_controllingPrim.MoveToTargetActive, + m_controllingPrim.MoveToTargetTarget, m_controllingPrim.MoveToTargetTau ); // If not active any more... if (!m_controllingPrim.MoveToTargetActive) @@ -100,7 +102,7 @@ public class BSActorMoveToTarget : BSActor // We're taking over after this. m_controllingPrim.ZeroMotion(true); - m_targetMotor = new BSVMotor("BSPrim.PIDTarget", + m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate", m_controllingPrim.MoveToTargetTau, // timeScale BSMotor.Infinite, // decay time scale BSMotor.InfiniteVector, // friction timescale @@ -138,15 +140,19 @@ public class BSActorMoveToTarget : BSActor // If we are very close to our target, turn off the movement motor. if (m_targetMotor.ErrorIsZero()) { - m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}", + m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}", m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass); m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; + // Setting the position does not cause the physics engine to generate a property update. Force it. + m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); } else { m_controllingPrim.ForcePosition = movePosition; + // Setting the position does not cause the physics engine to generate a property update. Force it. + m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); } - m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition); + m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition); } } } -- cgit v1.1