From 2fd184e350874d3751a30e368d5f7ee0f41d4b85 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 7 Feb 2013 21:54:48 -0800 Subject: BulletSim: reclass BSPrim into layers so linkset and physical world displacement is implemented as overlay classes rather than if statements scattered about. --- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 179 +++++++++++++++++++++ 1 file changed, 179 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs new file mode 100755 index 0000000..fd66d1c --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -0,0 +1,179 @@ +/* + * 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.Framework; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSPrimLinkable : BSPrimDisplaced +{ + public BSLinkset Linkset { get; set; } + public BSLinksetInfo LinksetInfo { get; set; } + + public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, + OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) + : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) + { + Linkset = BSLinkset.Factory(PhysicsScene, this); + + PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate() + { + Linkset.Refresh(this); + }); + } + + public override void Destroy() + { + Linkset = Linkset.RemoveMeFromLinkset(this); + base.Destroy(); + } + + public override BSPhysicsShapeType PreferredPhysicalShape + { get { return Linkset.PreferredPhysicalShape(this); } } + + public override void link(Manager.PhysicsActor obj) + { + BSPrimLinkable parent = obj as BSPrimLinkable; + if (parent != null) + { + BSPhysObject parentBefore = Linkset.LinksetRoot; + int childrenBefore = Linkset.NumberOfChildren; + + Linkset = parent.Linkset.AddMeToLinkset(this); + + DetailLog("{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", + LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); + } + return; + } + + 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},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", + LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); + return; + base.delink(); + } + + // When simulator changes position, this might be moving a child of the linkset. + public override OMV.Vector3 Position + { + get { return base.Position; } + set + { + base.Position = value; + PhysicsScene.TaintedObject("BSPrimLinkset.setPosition", delegate() + { + Linkset.UpdateProperties(UpdatedProperties.Position, this); + }); + } + } + + // When simulator changes orientation, this might be moving a child of the linkset. + public override OMV.Quaternion Orientation + { + get { return base.Orientation; } + set + { + base.Orientation = value; + PhysicsScene.TaintedObject("BSPrimLinkset.setOrientation", delegate() + { + Linkset.UpdateProperties(UpdatedProperties.Orientation, this); + }); + } + } + + public override float TotalMass + { + get { return Linkset.LinksetMass; } + } + + public override void UpdatePhysicalParameters() + { + base.UpdatePhysicalParameters(); + // 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); + } + + protected override void MakeDynamic(bool makeStatic) + { + base.MakeDynamic(makeStatic); + if (makeStatic) + Linkset.MakeStatic(this); + else + Linkset.MakeDynamic(this); + } + + // Body is being taken apart. Remove physical dependencies and schedule a rebuild. + protected override void RemoveBodyDependencies() + { + Linkset.RemoveBodyDependencies(this); + base.RemoveBodyDependencies(); + } + + public override void UpdateProperties(EntityProperties entprop) + { + if (Linkset.IsRoot(this)) + { + // Properties are only updated for the roots of a linkset. + // TODO: this will have to change when linksets are articulated. + base.UpdateProperties(entprop); + } + Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); + + } + + public override bool Collide(uint collidingWith, BSPhysObject collidee, + OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) + { + // prims in the same linkset cannot collide with each other + BSPrimLinkable convCollidee = collidee as BSPrimLinkable; + if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID)) + { + return false; + } + return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); + } +} +} -- cgit v1.1 From 1b55a9d81e66972312fdc801d17da697466f9ed4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 8 Feb 2013 15:25:57 -0800 Subject: BulletSim: fix avatar bobbing or jiggling while stationary flying. Various comments and debugging message mods. --- OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index fd66d1c..9898562 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -160,8 +160,8 @@ public class BSPrimLinkable : BSPrimDisplaced // TODO: this will have to change when linksets are articulated. base.UpdateProperties(entprop); } + // The linkset might like to know about changing locations Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); - } public override bool Collide(uint collidingWith, BSPhysObject collidee, -- cgit v1.1