From a19896cc569c037436ad8e65f044224f169d63d4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 9 Dec 2012 22:32:13 -0800 Subject: BulletSim: some comments about rebuilding linksets (having to recompute and restore a child's position in the world based on its position in the moved linkset). --- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 1f7c398..bc9f9be 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -192,6 +192,8 @@ public sealed class BSLinksetCompound : BSLinkset child.LocalID, child.PhysBody.ptr.ToString("X")); // Cause the child's body to be rebuilt and thus restored to normal operation + // TODO: position and rotation must be restored because the child could have moved + // based on the linkset. child.ForceBodyShapeRebuild(false); if (!HasAnyChildren) @@ -236,9 +238,10 @@ public sealed class BSLinksetCompound : BSLinkset if (cPrim.PhysShape.isNativeShape) { - // Native shapes are not shared so we need to create a new one. - // A mesh or hull is created because scale is not available on a native shape. - // (TODO: Bullet does have a btScaledCollisionShape. Can that be used?) + // A native shape is turning into a null 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). BulletShape saveShape = cPrim.PhysShape; cPrim.PhysShape.ptr = IntPtr.Zero; // Don't let the create free the child's shape PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); -- cgit v1.1 From 9df85eadf4b3719a898fda8769313ae023962c25 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 10 Dec 2012 15:35:53 -0800 Subject: BulletSim: Fix crash on the destruction of physical linksets. While fixing the above, add methods to physical body and shape pointer wrapper so routines won't have to know that IntPtr.Zero means no physical instance. Fix problem with physical linksets failing after a few sits and unsits by properly restoring child prom positions for compound linksets after multiple selection and deselections. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 113 +++++++++++++++++---- 1 file changed, 96 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index bc9f9be..fe5b5e3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -32,6 +32,31 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { + +// 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 string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } +}; + public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; @@ -44,6 +69,7 @@ public sealed class BSLinksetCompound : BSLinkset // 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) { @@ -63,10 +89,10 @@ public sealed class BSLinksetCompound : BSLinkset // InternalRefresh(requestor); } + // Schedule a refresh to happen after all the other taint processing. private void InternalRefresh(BSPhysObject requestor) { DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID); - // Queue to happen after all the other taint processing PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() { if (IsRoot(requestor) && HasAnyChildren) @@ -108,7 +134,7 @@ public sealed class BSLinksetCompound : BSLinkset { // The non-physical children can come back to life. BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - // Don't force activation so setting of DISABLE_SIMULATION can stay. + // Don't force activation so setting of DISABLE_SIMULATION can stay if used. BulletSimAPI.Activate2(child.PhysBody.ptr, false); ret = true; } @@ -146,6 +172,10 @@ public sealed class BSLinksetCompound : BSLinkset 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); + // Cause the current shape to be freed and the new one to be built. InternalRefresh(LinksetRoot); ret = true; @@ -154,6 +184,42 @@ public sealed class BSLinksetCompound : BSLinkset return ret; } + // 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); + } + } + // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', // this routine will restore the removed constraints. // Called at taint-time!! @@ -192,8 +258,7 @@ public sealed class BSLinksetCompound : BSLinkset child.LocalID, child.PhysBody.ptr.ToString("X")); // Cause the child's body to be rebuilt and thus restored to normal operation - // TODO: position and rotation must be restored because the child could have moved - // based on the linkset. + RecomputeChildWorldPosition(child, false); child.ForceBodyShapeRebuild(false); if (!HasAnyChildren) @@ -228,43 +293,57 @@ public sealed class BSLinksetCompound : BSLinkset { if (!IsRoot(cPrim)) { - // 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; + // 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, displacementPos, displacementRot); + LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); if (cPrim.PhysShape.isNativeShape) { - // A native shape is turning into a null collision shape because native + // 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.ptr = IntPtr.Zero; // Don't let the create free the child's shape + 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, displacementPos, displacementRot); + 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, displacementPos, displacementRot); + BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos , lci.OffsetRot); } } - // TODO: need to phantomize the child prims left behind. - // Maybe just destroy the children bodies and shapes and have them rebuild on unlink. - // Selection/deselection might cause way too many build/destructions esp. for LARGE linksets. - return false; // 'false' says to move onto the next child in the list }); -- cgit v1.1 From ebf30e7ba66446d7018346c12111d65a030d2786 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 00:02:20 -0800 Subject: BulletSim: set mass for single prim linksets when going physical. This fixes single prim vehicles not working (the surf board now zooms). --- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index fe5b5e3..d2abdb4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -110,12 +110,19 @@ public sealed class BSLinksetCompound : BSLinkset { bool ret = false; DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); - if (!IsRoot(child)) + if (IsRoot(child)) + { + // The root is going dynamic. Make sure mass is properly set. + m_mass = ComputeLinksetMass(); + } + 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); ret = true; } return ret; -- cgit v1.1 From 9e0dd9952b76fdda337e518932a1ef57f8215986 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Dec 2012 12:42:09 -0800 Subject: BulletSim: remove extra linkset rebuilds. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 54 ++++++++++++++-------- 1 file changed, 36 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index d2abdb4..6cabe3a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -114,6 +114,12 @@ public sealed class BSLinksetCompound : BSLinkset { // The root is going dynamic. Make sure mass is properly set. m_mass = ComputeLinksetMass(); + if (HasAnyChildren) + { + // Schedule a rebuilding as this will construct the complete compound shape + // and set all the properties correctly. + InternalRefresh(LinksetRoot); + } } else { @@ -123,6 +129,9 @@ public sealed class BSLinksetCompound : BSLinkset 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; @@ -137,10 +146,21 @@ public sealed class BSLinksetCompound : BSLinkset { bool ret = false; DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); - if (!IsRoot(child)) + if (IsRoot(child)) + { + if (HasAnyChildren) + { + // Schedule a rebuilding as this will construct the complete compound shape + // and set all the properties correctly. + InternalRefresh(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; @@ -182,19 +202,25 @@ public sealed class BSLinksetCompound : BSLinkset // Because it is a convenient time, recompute child world position and rotation based on // its position in the linkset. RecomputeChildWorldPosition(child, true); - - // Cause the current shape to be freed and the new one to be built. - InternalRefresh(LinksetRoot); - ret = true; } + // Cannot schedule a refresh/rebuild here because this routine is called when + // the linkset is being rebuilt. + // InternalRefresh(LinksetRoot); + return ret; } - // 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. + // 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; @@ -227,14 +253,6 @@ public sealed class BSLinksetCompound : BSLinkset } } - // 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. @@ -254,7 +272,7 @@ public sealed class BSLinksetCompound : BSLinkset } // Remove the specified child from the linkset. - // Safe to call even if the child is not really in my 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)) -- cgit v1.1 From 31d3952477b96b669d8a46d0941ea6d1bc1133b5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Dec 2012 16:23:51 -0800 Subject: BulletSim: fix problem with continuious rebuilding of physical linksets. This caused movement problems and large prim vehicles to take up a LOT of simulation time. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 155 +++++++++++---------- 1 file changed, 80 insertions(+), 75 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 6cabe3a..2189468 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -61,9 +61,8 @@ public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; - public BSLinksetCompound(BSScene scene, BSPhysObject parent) + public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent) { - base.Initialize(scene, parent); } // For compound implimented linksets, if there are children, use compound shape for the root. @@ -81,8 +80,6 @@ public sealed class BSLinksetCompound : BSLinkset // 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) { // External request for Refresh (from BSPrim) doesn't need to do anything @@ -92,12 +89,18 @@ public sealed class BSLinksetCompound : BSLinkset // Schedule a refresh to happen after all the other taint processing. private void InternalRefresh(BSPhysObject requestor) { - DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID); - PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() + DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1},rebuilding={2}", + LinksetRoot.LocalID, 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) { - if (IsRoot(requestor) && HasAnyChildren) - RecomputeLinksetCompound(); - }); + PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() + { + if (IsRoot(requestor) && HasAnyChildren) + RecomputeLinksetCompound(); + }); + } } // The object is going dynamic (physical). Do any setup necessary @@ -115,11 +118,7 @@ public sealed class BSLinksetCompound : BSLinkset // The root is going dynamic. Make sure mass is properly set. m_mass = ComputeLinksetMass(); if (HasAnyChildren) - { - // Schedule a rebuilding as this will construct the complete compound shape - // and set all the properties correctly. InternalRefresh(LinksetRoot); - } } else { @@ -149,16 +148,13 @@ public sealed class BSLinksetCompound : BSLinkset if (IsRoot(child)) { if (HasAnyChildren) - { - // Schedule a rebuilding as this will construct the complete compound shape - // and set all the properties correctly. InternalRefresh(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. @@ -307,74 +303,83 @@ public sealed class BSLinksetCompound : BSLinkset // Called at taint time!! private void RecomputeLinksetCompound() { - // Cause the root shape to be rebuilt as a compound object with just the root in it - LinksetRoot.ForceBodyShapeRebuild(true); + try + { + // Suppress rebuilding while rebuilding + Rebuilding = true; - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", - LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); + // Cause the root shape to be rebuilt as a compound object with just the root in it + LinksetRoot.ForceBodyShapeRebuild(true); - // Add a shape for each of the other children in the linkset - ForEachMember(delegate(BSPhysObject cPrim) - { - if (!IsRoot(cPrim)) + 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) { - // 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) + if (!IsRoot(cPrim)) { - // 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); - } + // 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); + 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)) + 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 { - PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", - LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); + // 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); } - 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 - }); + 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. - float linksetMass = LinksetMass; - LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + // With all of the linkset packed into the root prim, it has the mass of everyone. + float linksetMass = LinksetMass; + LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + } + finally + { + Rebuilding = false; + } BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr); -- cgit v1.1