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/BSActorSetForce.cs | 137 +++++++++++++++++++++ 1 file changed, 137 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs new file mode 100755 index 0000000..d942490 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs @@ -0,0 +1,137 @@ +/* + * 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 BSActorSetForce : BSActor +{ + BSFMotor m_forceMotor; + + public BSActorSetForce(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj, actorName) + { + m_forceMotor = null; + m_physicsScene.DetailLog("{0},BSActorSetForce,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},BSActorSetForce,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.RawForce == OMV.Vector3.Zero) + { + m_physicsScene.DetailLog("{0},BSActorSetForce,refresh,notSetForce,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) + { + ActivateSetForce(); + } + else + { + DeactivateSetForce(); + } + } + + // 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 ActivateSetForce() + { + if (m_forceMotor == null) + { + // A fake motor that might be used someday + m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f, 1f); + + m_physicsScene.BeforeStep += Mover; + } + } + + private void DeactivateSetForce() + { + if (m_forceMotor != null) + { + m_physicsScene.BeforeStep -= Mover; + m_forceMotor = null; + } + } + + // Called just before the simulation step. Update the vertical position for hoverness. + private void Mover(float timeStep) + { + // Don't do force while the object is selected. + if (!isActive) + return; + + m_physicsScene.DetailLog("{0},BSActorSetForce,preStep,force={1}", m_controllingPrim.LocalID, m_controllingPrim.RawForce); + if (m_controllingPrim.PhysBody.HasPhysicalBody) + { + m_physicsScene.PE.ApplyCentralForce(m_controllingPrim.PhysBody, m_controllingPrim.RawForce); + m_controllingPrim.ActivateIfPhysical(false); + } + + // TODO: + } +} +} + -- 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/BSActorSetForce.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs index d942490..3ad138d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs @@ -71,7 +71,7 @@ public class BSActorSetForce : BSActor if (m_controllingPrim.RawForce == OMV.Vector3.Zero) { m_physicsScene.DetailLog("{0},BSActorSetForce,refresh,notSetForce,removing={1}", m_controllingPrim.LocalID, ActorName); - m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); + Enabled = false; return; } -- cgit v1.1