From 1d6b33bc2da3b312cff1d1802a73aacdf72b0385 Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sun, 30 Aug 2015 20:06:53 -0700 Subject: Major renaming of Physics dlls / folders. No functional changes, just renames. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1281 ----------------------- 1 file changed, 1281 deletions(-) delete mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs deleted file mode 100644 index 8a19944..0000000 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ /dev/null @@ -1,1281 +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.Reflection; -using System.Runtime.InteropServices; -using System.Text; -using System.Threading; -using OpenSim.Framework; -using OpenSim.Framework.Monitoring; -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; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public sealed class BSScene : PhysicsScene, IPhysicsParameters -{ - internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); - internal static readonly string LogHeader = "[BULLETS SCENE]"; - - // The name of the region we're working for. - public string RegionName { get; private set; } - - public string BulletSimVersion = "?"; - - // The handle to the underlying managed or unmanaged version of Bullet being used. - public string BulletEngineName { get; private set; } - public BSAPITemplate PE; - - // If the physics engine is running on a separate thread - public Thread m_physicsThread; - - 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(); - - // All the collision processing is protected with this lock object - public Object CollisionLock = new Object(); - - // Properties are updated here - public Object UpdateLock = new Object(); - public HashSet ObjectsWithUpdates = 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 AvatarsInScene = new HashSet(); - private Object AvatarsInSceneLock = new Object(); - - // 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 float m_physicsStepTime; // if running independently, the interval simulated by default - - internal int m_maxSubSteps; - internal float m_fixedTimeStep; - - internal float m_simulatedTime; // the time simulated previously. Used for physics framerate calc. - - internal long m_simulationStep = 0; // The current simulation step. - public long SimulationStep { get { return m_simulationStep; } } - // A number to use for SimulationStep that is probably not any step value - // Used by the collision code (which remembers the step when a collision happens) to remember not any simulation step. - public static long NotASimulationStep = -1234; - - internal float LastTimeStep { get; private set; } // The simulation time from the last invocation of Simulate() - - internal float NominalFrameRate { get; set; } // Parameterized ideal frame rate that simulation is scaled to - - // 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 PostStepAction 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; - internal CollisionDesc[] m_collisionArray; - - internal int m_maxUpdatesPerFrame; - internal EntityProperties[] m_updateArray; - - /// - /// Used to control physics simulation timing if Bullet is running on its own thread. - /// - private ManualResetEvent m_updateWaitEvent; - - 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 originator; - public String ident; - public TaintCallback callback; - public TaintCallbackEntry(string pIdent, TaintCallback pCallBack) - { - originator = BSScene.DetailLogZero; - ident = pIdent; - callback = pCallBack; - } - public TaintCallbackEntry(string pOrigin, string pIdent, TaintCallback pCallBack) - { - originator = pOrigin; - ident = pIdent; - callback = pCallBack; - } - } - 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; - - // 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; - private bool m_physicsPhysicalDumpEnabled; - public int PhysicsMetricDumpFrames { get; set; } - // '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 engineType, string identifier) - { - m_initialized = false; - - // The name of the region we're working for is passed to us. Keep for identification. - RegionName = identifier; - - // Set identifying variables in the PhysicsScene interface. - EngineType = engineType; - Name = EngineType + "/" + RegionName; - } - - // Old version of initialization that assumes legacy sized regions (256x256) - public override void Initialise(IMesher meshmerizer, IConfigSource config) - { - m_log.ErrorFormat("{0} WARNING WARNING WARNING! BulletSim initialized without region extent specification. Terrain will be messed up."); - Vector3 regionExtent = new Vector3( Constants.RegionSize, Constants.RegionSize, Constants.RegionSize); - Initialise(meshmerizer, config, regionExtent); - - } - - public override void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent) - { - mesher = meshmerizer; - _taintOperations = new List(); - _postTaintOperations = new Dictionary(); - _postStepOperations = new List(); - PhysObjects = new Dictionary(); - Shapes = new BSShapeCollection(this); - - m_simulatedTime = 0f; - LastTimeStep = 0.1f; - - // Allocate pinned memory to pass parameters. - UnmanagedParams = new ConfigurationParameters[1]; - - // Set default values for physics parameters plus any overrides from the ini file - GetInitialParameterValues(config); - - // Force some parameters to values depending on other configurations - // Only use heightmap terrain implementation if terrain larger than legacy size - if ((uint)regionExtent.X > Constants.RegionSize || (uint)regionExtent.Y > Constants.RegionSize) - { - m_log.WarnFormat("{0} Forcing terrain implementation to heightmap for large region", LogHeader); - BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap; - } - - // Get the connection to the physics engine (could be native or one of many DLLs) - PE = SelectUnderlyingBulletEngine(BulletEngineName); - - // 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, m_physicsLoggingDoFlush); - PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output its own error messages. - } - else - { - PhysicsLogging = new Logging.LogWriter(); - } - - // Allocate memory for returning of the updates and collisions from the physics engine - m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; - m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; - - // 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 = regionExtent; - - World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray); - - Constraints = new BSConstraintCollection(World); - - TerrainManager = new BSTerrainManager(this, worldExtent); - TerrainManager.CreateInitialGroundPlaneAndTerrain(); - - // Put some informational messages into the log file. - m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation); - - InTaintTime = false; - m_initialized = true; - - // If the physics engine runs on its own thread, start same. - if (BSParam.UseSeparatePhysicsThread) - { - // The physics simulation should happen independently of the heartbeat loop - m_physicsThread - = WorkManager.StartThread( - BulletSPluginPhysicsThread, - string.Format("{0} ({1})", BulletEngineName, RegionName), - ThreadPriority.Normal, - true, - 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); - - // There are two Bullet implementations to choose from - BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged"); - - // Very detailed logging for physics debugging - // TODO: the boolean values can be moved to the normal parameter processing. - 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); - m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", 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); - } - else - { - // Nothing in the configuration INI file so assume unmanaged and other defaults. - BulletEngineName = "BulletUnmanaged"; - m_physicsLoggingEnabled = false; - VehicleLoggingEnabled = false; - } - - // 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; - } - - // Select the connection to the actual Bullet implementation. - // The main engine selection is the engineName up to the first hypen. - // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name - // is passed to the engine to do its special selection, etc. - private BSAPITemplate SelectUnderlyingBulletEngine(string engineName) - { - // For the moment, do a simple switch statement. - // Someday do fancyness with looking up the interfaces in the assembly. - BSAPITemplate ret = null; - - string selectionName = engineName.ToLower(); - int hyphenIndex = engineName.IndexOf("-"); - if (hyphenIndex > 0) - selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1); - - switch (selectionName) - { - case "bullet": - case "bulletunmanaged": - ret = new BSAPIUnman(engineName, this); - break; - case "bulletxna": - ret = new BSAPIXNA(engineName, this); - // Disable some features that are not implemented in BulletXNA - m_log.InfoFormat("{0} Disabling some physics features not implemented by BulletXNA", LogHeader); - m_log.InfoFormat("{0} Disabling ShouldUseBulletHACD", LogHeader); - BSParam.ShouldUseBulletHACD = false; - m_log.InfoFormat("{0} Disabling ShouldUseSingleConvexHullForPrims", LogHeader); - BSParam.ShouldUseSingleConvexHullForPrims = false; - m_log.InfoFormat("{0} Disabling ShouldUseGImpactShapeForPrims", LogHeader); - BSParam.ShouldUseGImpactShapeForPrims = false; - m_log.InfoFormat("{0} Setting terrain implimentation to Heightmap", LogHeader); - BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap; - break; - } - - if (ret == null) - { - m_log.ErrorFormat("{0} COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader); - } - else - { - m_log.InfoFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion); - } - - return ret; - } - - public override void Dispose() - { - // m_log.DebugFormat("{0}: Dispose()", LogHeader); - - // make sure no stepping happens while we're deleting stuff - m_initialized = false; - - lock (PhysObjects) - { - 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 - PE.Shutdown(World); - - // 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 velocity, 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 velocity, 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, velocity, 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 (AvatarsInSceneLock) - AvatarsInScene.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(bsactor.LocalID); - // Remove kludge someday - lock (AvatarsInSceneLock) - AvatarsInScene.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(); - } - else - { - m_log.ErrorFormat("{0}: Requested to remove avatar that is not a BSCharacter. ID={1}, type={2}", - LogHeader, actor.LocalID, actor.GetType().Name); - } - } - - public override void RemovePrim(PhysicsActor prim) - { - if (!m_initialized) return; - - BSPhysObject bsprim = prim as BSPhysObject; - 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},BSScene.AddPrimShape,call", localID); - - BSPhysObject prim = new BSPrimLinkable(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 - - // Call from the simulator to send physics information to the simulator objects. - // This pushes all the collision and property update events into the objects in - // the simulator and, since it is on the heartbeat thread, there is an implicit - // locking of those data structures from other heartbeat events. - // If the physics engine is running on a separate thread, the update information - // will be in the ObjectsWithCollions and ObjectsWithUpdates structures. - public override float Simulate(float timeStep) - { - if (!BSParam.UseSeparatePhysicsThread) - { - DoPhysicsStep(timeStep); - } - return SendUpdatesToSimulator(timeStep); - } - - // Call the physics engine to do one 'timeStep' and collect collisions and updates - // into ObjectsWithCollisions and ObjectsWithUpdates data structures. - private void DoPhysicsStep(float timeStep) - { - // prevent simulation until we've been initialized - if (!m_initialized) return; - - LastTimeStep = timeStep; - - int updatedEntityCount = 0; - int collidersCount = 0; - - int beforeTime = Util.EnvironmentTickCount(); - int simTime = 0; - - int numTaints = _taintOperations.Count; - InTaintTime = true; // Only used for debugging so locking is not necessary. - - // update the prim states while we know the physics engine is not busy - ProcessTaints(); - - // Some of the physical objects requre individual, pre-step calls - // (vehicles and avatar movement, in particular) - TriggerPreStepEvent(timeStep); - - // the prestep actions might have added taints - numTaints += _taintOperations.Count; - 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. - if (m_physicsPhysicalDumpEnabled) - PE.DumpAllInfo(World); - - // step the physical world one interval - m_simulationStep++; - int numSubSteps = 0; - try - { - numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount); - - } - 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; - } - - // Make the physics engine dump useful statistics periodically - if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0)) - PE.DumpPhysicsStatistics(World); - - // Get a value for 'now' so all the collision and update routines don't have to get their own. - SimulationNowTime = Util.EnvironmentTickCount(); - - // Send collision information to the colliding objects. The objects decide if the collision - // is 'real' (like linksets don't collide with themselves) and the individual objects - // know if the simulator has subscribed to collisions. - lock (CollisionLock) - { - if (collidersCount > 0) - { - lock (PhysObjects) - { - for (int ii = 0; ii < collidersCount; ii++) - { - uint cA = m_collisionArray[ii].aID; - uint cB = m_collisionArray[ii].bID; - Vector3 point = m_collisionArray[ii].point; - Vector3 normal = m_collisionArray[ii].normal; - float penetration = m_collisionArray[ii].penetration; - SendCollision(cA, cB, point, normal, penetration); - SendCollision(cB, cA, point, -normal, penetration); - } - } - } - } - - // If any of the objects had updated properties, tell the managed objects about the update - // and remember that there was a change so it will be passed to the simulator. - lock (UpdateLock) - { - if (updatedEntityCount > 0) - { - lock (PhysObjects) - { - for (int ii = 0; ii < updatedEntityCount; ii++) - { - EntityProperties entprop = m_updateArray[ii]; - BSPhysObject pobj; - if (PhysObjects.TryGetValue(entprop.ID, out pobj)) - { - if (pobj.IsInitialized) - pobj.UpdateProperties(entprop); - } - } - } - } - } - - // Some actors want to know when the simulation step is complete. - TriggerPostStepEvent(timeStep); - - simTime = Util.EnvironmentTickCountSubtract(beforeTime); - if (PhysicsLogging.Enabled) - { - DetailLog("{0},DoPhysicsStep,complete,frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", - DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, - updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); - } - - // 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. - if (m_physicsPhysicalDumpEnabled) - PE.DumpAllInfo(World); - - // 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 a fixed nominal frame rate to give a rate similar to the simulator (usually 55). - m_simulatedTime += (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate; - } - - // Called by a BSPhysObject to note that it has changed properties and this information - // should be passed up to the simulator at the proper time. - // Note: this is called by the BSPhysObject from invocation via DoPhysicsStep() above so - // this is is under UpdateLock. - public void PostUpdate(BSPhysObject updatee) - { - lock (UpdateLock) - { - ObjectsWithUpdates.Add(updatee); - } - } - - // The simulator thinks it is physics time so return all the collisions and position - // updates that were collected in actual physics simulation. - private float SendUpdatesToSimulator(float timeStep) - { - if (!m_initialized) return 5.0f; - - DetailLog("{0},SendUpdatesToSimulator,collisions={1},updates={2},simedTime={3}", - BSScene.DetailLogZero, ObjectsWithCollisions.Count, ObjectsWithUpdates.Count, m_simulatedTime); - // Push the collisions into the simulator. - lock (CollisionLock) - { - 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. - // Note that we get a copy of the list to search because SendCollision() can take a while. - HashSet tempAvatarsInScene; - lock (AvatarsInSceneLock) - { - tempAvatarsInScene = new HashSet(AvatarsInScene); - } - foreach (BSPhysObject actor in tempAvatarsInScene) - { - if (!ObjectsWithCollisions.Contains(actor)) // don't call avatars twice - actor.SendCollisions(); - } - tempAvatarsInScene = null; - - // 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 real collisions have happened on an object. This allows - // the simulator to generate the 'collision end' event. - if (ObjectsWithNoMoreCollisions.Count > 0) - { - foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) - ObjectsWithCollisions.Remove(po); - ObjectsWithNoMoreCollisions.Clear(); - } - } - - // Call the simulator for each object that has physics property updates. - HashSet updatedObjects = null; - lock (UpdateLock) - { - if (ObjectsWithUpdates.Count > 0) - { - updatedObjects = ObjectsWithUpdates; - ObjectsWithUpdates = new HashSet(); - } - } - if (updatedObjects != null) - { - foreach (BSPhysObject obj in updatedObjects) - { - obj.RequestPhysicsterseUpdate(); - } - updatedObjects.Clear(); - } - - // Return the framerate simulated to give the above returned results. - // (Race condition here but this is just bookkeeping so rare mistakes do not merit a lock). - float simTime = m_simulatedTime; - m_simulatedTime = 0f; - return simTime; - } - - // 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; - // NOTE that PhysObjects was locked before the call to SendCollision(). - 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; - } - - // Note: 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.IsInitialized) - { - if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) - { - // If a collision was 'good', remember to send it to the simulator - lock (CollisionLock) - { - ObjectsWithCollisions.Add(collider); - } - } - } - - return; - } - - public void BulletSPluginPhysicsThread() - { - Thread.CurrentThread.Priority = ThreadPriority.Highest; - m_updateWaitEvent = new ManualResetEvent(false); - - while (m_initialized) - { - int beginSimulationRealtimeMS = Util.EnvironmentTickCount(); - - if (BSParam.Active) - DoPhysicsStep(BSParam.PhysicsTimeStep); - - int simulationRealtimeMS = Util.EnvironmentTickCountSubtract(beginSimulationRealtimeMS); - int simulationTimeVsRealtimeDifferenceMS = ((int)(BSParam.PhysicsTimeStep*1000f)) - simulationRealtimeMS; - - if (simulationTimeVsRealtimeDifferenceMS > 0) - { - // The simulation of the time interval took less than realtime. - // Do a wait for the rest of realtime. - m_updateWaitEvent.WaitOne(simulationTimeVsRealtimeDifferenceMS); - //Thread.Sleep(simulationTimeVsRealtimeDifferenceMS); - } - else - { - // The simulation took longer than realtime. - // Do some scaling of simulation time. - // TODO. - DetailLog("{0},BulletSPluginPhysicsThread,longerThanRealtime={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS); - } - - Watchdog.UpdateThread(); - } - - Watchdog.RemoveThread(); - } - - #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() - { - Dictionary topColliders; - - lock (PhysObjects) - { - foreach (KeyValuePair kvp in PhysObjects) - { - kvp.Value.ComputeCollisionScore(); - } - - List orderedPrims = new List(PhysObjects.Values); - orderedPrims.OrderByDescending(p => p.CollisionScore); - topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore); - } - - return topColliders; - } - - public override bool IsThreaded { get { return false; } } - - #region Extensions - public override object Extension(string pFunct, params object[] pParams) - { - DetailLog("{0} BSScene.Extension,op={1}", DetailLogZero, pFunct); - return base.Extension(pFunct, pParams); - } - #endregion // Extensions - - public static string PrimitiveBaseShapeToString(PrimitiveBaseShape pbs) - { - float pathShearX = pbs.PathShearX < 128 ? (float)pbs.PathShearX * 0.01f : (float)(pbs.PathShearX - 256) * 0.01f; - float pathShearY = pbs.PathShearY < 128 ? (float)pbs.PathShearY * 0.01f : (float)(pbs.PathShearY - 256) * 0.01f; - float pathBegin = (float)pbs.PathBegin * 2.0e-5f; - float pathEnd = 1.0f - (float)pbs.PathEnd * 2.0e-5f; - float pathScaleX = (float)(200 - pbs.PathScaleX) * 0.01f; - float pathScaleY = (float)(200 - pbs.PathScaleY) * 0.01f; - float pathTaperX = pbs.PathTaperX * 0.01f; - float pathTaperY = pbs.PathTaperY * 0.01f; - - float profileBegin = (float)pbs.ProfileBegin * 2.0e-5f; - float profileEnd = 1.0f - (float)pbs.ProfileEnd * 2.0e-5f; - float profileHollow = (float)pbs.ProfileHollow * 2.0e-5f; - if (profileHollow > 0.95f) - profileHollow = 0.95f; - - StringBuilder buff = new StringBuilder(); - buff.Append("shape="); - buff.Append(((ProfileShape)pbs.ProfileShape).ToString()); - buff.Append(","); - buff.Append("hollow="); - buff.Append(((HollowShape)pbs.HollowShape).ToString()); - buff.Append(","); - buff.Append("pathCurve="); - buff.Append(((Extrusion)pbs.PathCurve).ToString()); - buff.Append(","); - buff.Append("profCurve="); - buff.Append(((Extrusion)pbs.ProfileCurve).ToString()); - buff.Append(","); - buff.Append("profHollow="); - buff.Append(profileHollow.ToString()); - buff.Append(","); - buff.Append("pathBegEnd="); - buff.Append(pathBegin.ToString()); - buff.Append("/"); - buff.Append(pathEnd.ToString()); - buff.Append(","); - buff.Append("profileBegEnd="); - buff.Append(profileBegin.ToString()); - buff.Append("/"); - buff.Append(profileEnd.ToString()); - buff.Append(","); - buff.Append("scaleXY="); - buff.Append(pathScaleX.ToString()); - buff.Append("/"); - buff.Append(pathScaleY.ToString()); - buff.Append(","); - buff.Append("shearXY="); - buff.Append(pathShearX.ToString()); - buff.Append("/"); - buff.Append(pathShearY.ToString()); - buff.Append(","); - buff.Append("taperXY="); - buff.Append(pbs.PathTaperX.ToString()); - buff.Append("/"); - buff.Append(pbs.PathTaperY.ToString()); - buff.Append(","); - buff.Append("skew="); - buff.Append(pbs.PathSkew.ToString()); - buff.Append(","); - buff.Append("twist/Beg="); - buff.Append(pbs.PathTwist.ToString()); - buff.Append("/"); - buff.Append(pbs.PathTwistBegin.ToString()); - - return buff.ToString(); - } - - #region Taints - // The simulation execution order is: - // Simulate() - // DoOneTimeTaints - // TriggerPreStepEvent - // DoOneTimeTaints - // Step() - // ProcessAndSendToSimulatorCollisions - // ProcessAndSendToSimulatorPropertyUpdates - // 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 pOriginator, string pIdent, TaintCallback pCallback) - { - TaintedObject(false /*inTaintTime*/, pOriginator, pIdent, pCallback); - } - public void TaintedObject(uint pOriginator, String pIdent, TaintCallback pCallback) - { - TaintedObject(false /*inTaintTime*/, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback); - } - public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback) - { - TaintedObject(inTaintTime, BSScene.DetailLogZero, pIdent, pCallback); - } - public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback) - { - TaintedObject(inTaintTime, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback); - } - // 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 pOriginator, string pIdent, TaintCallback pCallback) - { - if (!m_initialized) return; - - if (inTaintTime) - pCallback(); - else - { - lock (_taintLock) - { - _taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback)); - } - } - } - - private void TriggerPreStepEvent(float timeStep) - { - PreStepAction actions = BeforeStep; - if (actions != null) - actions(timeStep); - - } - - private void TriggerPostStepEvent(float timeStep) - { - PostStepAction 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 (m_initialized && _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}", tcbe.originator, 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 IDAsString = ID.ToString(); - string uniqueIdent = ident + "-" + IDAsString; - lock (_taintLock) - { - _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(IDAsString, uniqueIdent, callback); - } - - return; - } - - // Taints that happen after the normal taint processing but before the simulation step. - private void ProcessPostTaintTaints() - { - if (m_initialized && _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 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, string val, uint localID) - { - bool ret = false; - - BSParam.ParameterDefnBase theParam; - if (BSParam.TryGetParameter(parm, out theParam)) - { - // Set the value in the C# code - theParam.SetValue(this, val); - - // Optionally set the parameter in the unmanaged code - if (theParam.HasSetOnObject) - { - // 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 - List objectIDs = new List(); - switch (localID) - { - case PhysParameterEntry.APPLY_TO_NONE: - // 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: - 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; - } - } - - ret = true; - } - return ret; - } - - // schedule the actual updating of the paramter to when the phys engine is not busy - private void TaintedUpdateParameter(string parm, List lIDs, string val) - { - string xval = val; - List xlIDs = lIDs; - string xparm = parm; - TaintedObject(DetailLogZero, "BSScene.UpdateParameterSet", delegate() { - BSParam.ParameterDefnBase thisParam; - if (BSParam.TryGetParameter(xparm, out thisParam)) - { - if (thisParam.HasSetOnObject) - { - foreach (uint lID in xlIDs) - { - BSPhysObject theObject = null; - if (PhysObjects.TryGetValue(lID, out theObject)) - thisParam.SetOnObject(this, theObject); - } - } - } - }); - } - - // Get parameter. - // Return 'false' if not able to get the parameter. - public bool GetPhysicsParameter(string parm, out string value) - { - string val = String.Empty; - bool ret = false; - BSParam.ParameterDefnBase theParam; - if (BSParam.TryGetParameter(parm, out theParam)) - { - val = theParam.GetValue(this); - ret = true; - } - value = val; - return ret; - } - - #endregion IPhysicsParameters - - // Invoke the detailed logger and output something if it's enabled. - public void DetailLog(string msg, params Object[] args) - { - PhysicsLogging.Write(msg, args); - } - // Used to fill in the LocalID when there isn't one. It's the correct number of characters. - public const string DetailLogZero = "0000000000"; - -} -} -- cgit v1.1