From 5781d4d52d0e4c761737fd9b1382365589a4717e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Sep 2012 09:19:42 -0700 Subject: BulletSim: remove the unused body management code from BSPrim. There is no going back now. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 374 ------------------------- 1 file changed, 374 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 17ba85a..e65e42b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -27,8 +27,6 @@ // Uncomment this it enable code to do all shape an body memory management // in the C# code. -#define CSHARP_BODY_MANAGEMENT - using System; using System.Reflection; using System.Collections.Generic; @@ -474,14 +472,8 @@ public sealed class BSPrim : BSPhysObject // Called at taint-time!! private void SetObjectDynamic(bool forceRebuild) { -#if CSHARP_BODY_MANAGEMENT // Recreate the physical object if necessary CreateGeomAndObject(forceRebuild); -#else - // If it's becoming dynamic, it will need hullness - VerifyCorrectPhysicalShape(); - UpdatePhysicalParameters(); -#endif // CSHARP_BODY_MANAGEMENT } // Convert the simulator's physical properties into settings on BulletSim objects. @@ -498,11 +490,6 @@ public sealed class BSPrim : BSPhysObject // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); -#if !CSHARP_BODY_MANAGEMENT - // Make solid or not (do things bounce off or pass through this object) - // This is done first because it can change the collisionObject type. - MakeSolid(IsSolid); -#endif // !CSHARP_BODY_MANAGEMENT // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); @@ -513,10 +500,8 @@ public sealed class BSPrim : BSPhysObject // Arrange for collision events if the simulator wants them EnableCollisions(SubscribedEvents()); -#if CSHARP_BODY_MANAGEMENT // Make solid or not (do things bounce off or pass through this object). MakeSolid(IsSolid); -#endif // CSHARP_BODY_MANAGEMENT BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); @@ -609,7 +594,6 @@ public sealed class BSPrim : BSPhysObject // the functions after this one set up the state of a possibly newly created collision body. private void MakeSolid(bool makeSolid) { -#if CSHARP_BODY_MANAGEMENT CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr); if (makeSolid) { @@ -630,49 +614,6 @@ public sealed class BSPrim : BSPhysObject BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter; BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; } -#else - // If doing the body management in C#, all this logic is in CSShapeCollection.CreateObject(). - CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr); - if (makeSolid) - { - if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0) - { - // Solid things are made out of rigid bodies. Remove this old body from the world - // and use this shape in a new rigid body. - BulletBody oldBody = BSBody; - // Zero out the pointer to the shape in the old body so the shape will not get freed - BSShape.Ptr = BulletSimAPI.GetCollisionShape2(oldBody.Ptr); - BulletSimAPI.SetCollisionShape2(PhysicsScene.World.Ptr, oldBody.Ptr, IntPtr.Zero); - // Get rid of the old body and remove it from BulletSim's object list - BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID); - - // Create the new body with the shape - BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation)); - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - DetailLog("{0},BSPrim.MakeSolid:rigidBody,body={1},shape={2}", LocalID, BSBody, BSShape); - } - } - else - { - if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0) - { - // Non-solid things are made out of ghost objects. Remove this old body from the world - // and use this shape in a new rigid body. - BulletBody oldBody = BSBody; - - // Zero out the pointer to the shape in the old body so the shape will not get freed - BSShape.Ptr = BulletSimAPI.GetCollisionShape2(oldBody.Ptr); - BulletSimAPI.SetCollisionShape2(PhysicsScene.World.Ptr, oldBody.Ptr, IntPtr.Zero); - // Get rid of the old body and remove it from BulletSim's object list - BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID); - - BSBody = new BulletBody(LocalID, - BulletSimAPI.CreateGhostFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation)); - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - DetailLog("{0},BSPrim.MakeGhostBody,body={1},shape={2}", LocalID, BSBody, BSShape); - } - } -#endif } // Turn on or off the flag controlling whether collision events are returned to the simulator. @@ -1139,300 +1080,6 @@ public sealed class BSPrim : BSPhysObject }// end CalculateMass #endregion Mass Calculation -#if !CSHARP_BODY_MANAGEMENT - // Create the geometry information in Bullet for later use. - // The objects needs a hull if it's physical otherwise a mesh is enough. - // No locking here because this is done when we know physics is not simulating. - // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used. - // Returns 'true' if the geometry was rebuilt. - // Called at taint-time! - private bool CreateGeom(bool forceRebuild) - { - bool ret = false; - bool haveShape = false; - - // If the prim attributes are simple, this could be a simple Bullet native shape - if ( - // if the basic shape is a cube or a sphere... - ((_pbs.ProfileShape == ProfileShape.Square && _pbs.PathCurve == (byte)Extrusion.Straight) - || (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 - /* && _pbs.Scale.X == _pbs.Scale.Y && _pbs.Scale.Y == _pbs.Scale.Z */ )) - // ... and we are not doing sculpty meshes... - && (_pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) - // ... or this is a 'simple' shape... - || (_pbs.ProfileBegin == 0 && _pbs.ProfileEnd == 0 - && _pbs.ProfileHollow == 0 - && _pbs.PathTwist == 0 && _pbs.PathTwistBegin == 0 - && _pbs.PathBegin == 0 && _pbs.PathEnd == 0 - && _pbs.PathTaperX == 0 && _pbs.PathTaperY == 0 - && _pbs.PathScaleX == 100 && _pbs.PathScaleY == 100 - && _pbs.PathShearX == 0 && _pbs.PathShearY == 0) ) - // ... then this might be representable as a native Bullet collision shape - { - if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) - { - haveShape = true; - if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) - { - DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild); - _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; - _meshKey = (ulong)ShapeData.FixedShapeKey.KEY_SPHERE; - // Bullet native objects are scaled by the Bullet engine so pass the size in - _scale = _size; - // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? - ret = true; - } - } - else - { - // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); - haveShape = true; - if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) - { - DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild); - _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; - _meshKey = (ulong)ShapeData.FixedShapeKey.KEY_BOX; - _scale = _size; - // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? - ret = true; - } - } - } - // If a simple shape isn't happening, create a mesh and possibly a hull - if (!haveShape) - { - if (IsPhysical) - { - if (forceRebuild || _hullKey == 0) - { - // physical objects require a hull for interaction. - // This also creates the mesh if it doesn't already exist - ret = CreateGeomHull(); - } - } - else - { - if (forceRebuild || _meshKey == 0) - { - // Static (non-physical) objects only need a mesh for bumping into - ret = CreateGeomMesh(); - } - } - } - - return ret; - } - - // No locking here because this is done when we know physics is not simulating - // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs). - // Called at taint-time! - private bool CreateGeomMesh() - { - // level of detail based on size and type of the object - float lod = PhysicsScene.MeshLOD; - if (_pbs.SculptEntry) - lod = PhysicsScene.SculptLOD; - float maxAxis = Math.Max(_size.X, Math.Max(_size.Y, _size.Z)); - if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) - lod = PhysicsScene.MeshMegaPrimLOD; - - ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod); - // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, LocalID, _meshKey, newMeshKey); - - // if this new shape is the same as last time, don't recreate the mesh - if (_meshKey == newMeshKey) return false; - - DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey); - // Since we're recreating new, get rid of any previously generated shape - if (_meshKey != 0) - { - // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, LocalID, _meshKey); - DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey); - BulletSimAPI.DestroyMesh(PhysicsScene.WorldID, _meshKey); - _mesh = null; - _meshKey = 0; - } - - _meshKey = newMeshKey; - // always pass false for physicalness as this creates some sort of bounding box which we don't need - _mesh = PhysicsScene.mesher.CreateMesh(PhysObjectName, _pbs, _size, lod, false); - - int[] indices = _mesh.getIndexListAsInt(); - List<OMV.Vector3> vertices = _mesh.getVertexList(); - - float[] verticesAsFloats = new float[vertices.Count * 3]; - int vi = 0; - foreach (OMV.Vector3 vv in vertices) - { - verticesAsFloats[vi++] = vv.X; - verticesAsFloats[vi++] = vv.Y; - verticesAsFloats[vi++] = vv.Z; - } - - // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", - // LogHeader, LocalID, _meshKey, indices.Length, vertices.Count); - BulletSimAPI.CreateMesh(PhysicsScene.WorldID, _meshKey, indices.GetLength(0), indices, - vertices.Count, verticesAsFloats); - - _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; - // meshes are already scaled by the meshmerizer - _scale = new OMV.Vector3(1f, 1f, 1f); - return true; - } - - // No locking here because this is done when we know physics is not simulating - // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs). - private bool CreateGeomHull() - { - float lod = _pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD; - ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod); - // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, LocalID, _hullKey, newHullKey); - - // if the hull hasn't changed, don't rebuild it - if (newHullKey == _hullKey) return false; - - DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey); - - // Since we're recreating new, get rid of any previously generated shape - if (_hullKey != 0) - { - // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); - DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey); - BulletSimAPI.DestroyHull(PhysicsScene.WorldID, _hullKey); - _hullKey = 0; - } - - _hullKey = newHullKey; - - // Make sure the underlying mesh exists and is correct - CreateGeomMesh(); - - int[] indices = _mesh.getIndexListAsInt(); - List<OMV.Vector3> vertices = _mesh.getVertexList(); - - //format conversion from IMesh format to DecompDesc format - List<int> convIndices = new List<int>(); - List<float3> convVertices = new List<float3>(); - for (int ii = 0; ii < indices.GetLength(0); ii++) - { - convIndices.Add(indices[ii]); - } - foreach (OMV.Vector3 vv in vertices) - { - convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); - } - - // setup and do convex hull conversion - _hulls = new List<ConvexResult>(); - DecompDesc dcomp = new DecompDesc(); - dcomp.mIndices = convIndices; - dcomp.mVertices = convVertices; - ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); - // create the hull into the _hulls variable - convexBuilder.process(dcomp); - - // Convert the vertices and indices for passing to unmanaged. - // The hull information is passed as a large floating point array. - // The format is: - // convHulls[0] = number of hulls - // convHulls[1] = number of vertices in first hull - // convHulls[2] = hull centroid X coordinate - // convHulls[3] = hull centroid Y coordinate - // convHulls[4] = hull centroid Z coordinate - // convHulls[5] = first hull vertex X - // convHulls[6] = first hull vertex Y - // convHulls[7] = first hull vertex Z - // convHulls[8] = second hull vertex X - // ... - // convHulls[n] = number of vertices in second hull - // convHulls[n+1] = second hull centroid X coordinate - // ... - // - // TODO: is is very inefficient. Someday change the convex hull generator to return - // data structures that do not need to be converted in order to pass to Bullet. - // And maybe put the values directly into pinned memory rather than marshaling. - int hullCount = _hulls.Count; - int totalVertices = 1; // include one for the count of the hulls - foreach (ConvexResult cr in _hulls) - { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += cr.HullIndices.Count * 3; // we pass just triangles - } - float[] convHulls = new float[totalVertices]; - - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (ConvexResult cr in _hulls) - { - // copy vertices for index access - float3[] verts = new float3[cr.HullVertices.Count]; - int kk = 0; - foreach (float3 ff in cr.HullVertices) - { - verts[kk++] = ff; - } - - // add to the array one hull's worth of data - convHulls[jj++] = cr.HullIndices.Count; - convHulls[jj++] = 0f; // centroid x,y,z - convHulls[jj++] = 0f; - convHulls[jj++] = 0f; - foreach (int ind in cr.HullIndices) - { - convHulls[jj++] = verts[ind].x; - convHulls[jj++] = verts[ind].y; - convHulls[jj++] = verts[ind].z; - } - } - - // create the hull definition in Bullet - // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, LocalID, _hullKey, hullCount); - BulletSimAPI.CreateHull(PhysicsScene.WorldID, _hullKey, hullCount, convHulls); - _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; - // meshes are already scaled by the meshmerizer - _scale = new OMV.Vector3(1f, 1f, 1f); - DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID); - return true; - } - - // Callback from convex hull creater with a newly created hull. - // Just add it to the collection of hulls for this shape. - private void HullReturn(ConvexResult result) - { - _hulls.Add(result); - return; - } - - private void VerifyCorrectPhysicalShape() - { - if (!IsStatic) - { - // if not static, it will need a hull to efficiently collide with things - if (_hullKey == 0) - { - CreateGeomAndObject(false); - } - - } - } - - // Create an object in Bullet if it has not already been created - // No locking here because this is done when the physics engine is not simulating - // Returns 'true' if an object was actually created. - private bool CreateObject() - { - // this routine is called when objects are rebuilt. - - // the mesh or hull must have already been created in Bullet - ShapeData shape; - FillShapeInfo(out shape); - // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, LocalID, shape.Type); - bool ret = BulletSimAPI.CreateObject(PhysicsScene.WorldID, shape); - - return ret; - } -#endif // !CSHARP_BODY_MANAGEMENT - // Copy prim's info into the BulletSim shape description structure public void FillShapeInfo(out ShapeData shape) { @@ -1458,7 +1105,6 @@ public sealed class BSPrim : BSPhysObject // Called at taint-time!!! private void CreateGeomAndObject(bool forceRebuild) { -#if CSHARP_BODY_MANAGEMENT ShapeData shapeData; FillShapeInfo(out shapeData); @@ -1475,26 +1121,6 @@ public sealed class BSPrim : BSPhysObject // Make sure the properties are set on the new object UpdatePhysicalParameters(); -#else - // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, LocalID, forceRebuild); - // Create the geometry that will make up the object - if (CreateGeom(forceRebuild)) - { - // Create the object and place it into the world - CreateObject(); - - // the CreateObject() may have recreated the rigid body. Make sure we have the latest address. - BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID)); - BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr), _shapeType); - BSShape.shapeKey = _meshKey; - DetailLog("{0},BSPrim.CreateGeomAndObject,body={1},shape={2}", LocalID, BSBody, BSShape); - - // Make sure the properties are set on the new object - UpdatePhysicalParameters(); - } - - -#endif // CSHARP_BODY_MANAGEMENT return; } -- cgit v1.1