From e5582939fd8d78b61c6f1eeda6de45d94f4b4926 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 28 Apr 2013 14:44:21 -0700 Subject: BulletSim: massive refactor of shape classes. Removed shape specific code from BSShapeCollection. Using BSShape* classes to hold references to shape. Simplified shape dependency callbacks. Remove 'PreferredShape' methods and have each class specify shape type. Disable compound shape linkset for a later commit that will simplify linkset implementation. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 6 +- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 4 +- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 4 +- .../Region/Physics/BulletSPlugin/BSActorHover.cs | 4 +- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 4 +- .../Physics/BulletSPlugin/BSActorMoveToTarget.cs | 4 +- .../Physics/BulletSPlugin/BSActorSetForce.cs | 4 +- .../Physics/BulletSPlugin/BSActorSetTorque.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 6 +- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 19 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 9 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 35 +- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 4 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 34 +- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 9 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 966 ++------------------- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 203 +++-- .../Region/Physics/BulletSPlugin/BulletSimData.cs | 6 +- 20 files changed, 290 insertions(+), 1050 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index fdf2cb9..8a22bc7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -79,7 +79,7 @@ private sealed class BulletShapeUnman : BulletShape : base() { ptr = xx; - type = typ; + shapeType = typ; } public override bool HasPhysicalShape { @@ -91,7 +91,7 @@ private sealed class BulletShapeUnman : BulletShape } public override BulletShape Clone() { - return new BulletShapeUnman(ptr, type); + return new BulletShapeUnman(ptr, shapeType); } public override bool ReferenceSame(BulletShape other) { @@ -375,7 +375,7 @@ public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletSha { BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman; - return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type); + return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.shapeType); } public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index b37265a..1ef8b17 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -85,7 +85,7 @@ private sealed class BulletShapeXNA : BulletShape : base() { shape = xx; - type = typ; + shapeType = typ; } public override bool HasPhysicalShape { @@ -97,7 +97,7 @@ private sealed class BulletShapeXNA : BulletShape } public override BulletShape Clone() { - return new BulletShapeXNA(shape, type); + return new BulletShapeXNA(shape, shapeType); } public override bool ReferenceSame(BulletShape other) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index bd5ee0b1..ac05979 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -87,8 +87,8 @@ public class BSActorAvatarMove : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { // Nothing to do for the hoverer since it is all software at pre-step action time. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs index 92ace66..3630ca8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -87,8 +87,8 @@ public class BSActorHover : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { // Nothing to do for the hoverer since it is all software at pre-step action time. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index 09ee32b..6059af5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -85,8 +85,8 @@ public class BSActorLockAxis : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { if (LockAxisConstraint != null) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs index 56aacc5..1b598fd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs @@ -88,8 +88,8 @@ public class BSActorMoveToTarget : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { // Nothing to do for the moveToTarget since it is all software at pre-step action time. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs index 3ad138d..c0f40fd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs @@ -89,8 +89,8 @@ public class BSActorSetForce : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { // Nothing to do for the hoverer since it is all software at pre-step action time. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs index 7a791ec..b3806e1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs @@ -89,8 +89,8 @@ public class BSActorSetTorque : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { // Nothing to do for the hoverer since it is all software at pre-step action time. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index 12a8817..5e3f1c4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -106,9 +106,9 @@ public class BSActorCollection { ForEachActor(a => a.Refresh()); } - public void RemoveBodyDependencies() + public void RemoveDependencies() { - ForEachActor(a => a.RemoveBodyDependencies()); + ForEachActor(a => a.RemoveDependencies()); } } @@ -154,7 +154,7 @@ public abstract class BSActor public abstract void Refresh(); // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. - public abstract void RemoveBodyDependencies(); + public abstract void RemoveDependencies(); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a0d58d3..da23a262 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -123,8 +123,8 @@ public sealed class BSCharacter : BSPhysObject { PhysicsScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */); PhysBody.Clear(); - PhysicsScene.Shapes.DereferenceShape(PhysShape, null /* bodyCallback */); - PhysShape.Clear(); + PhysShape.Dereference(PhysicsScene); + PhysShape = new BSShapeNull(); }); } @@ -146,8 +146,8 @@ public sealed class BSCharacter : BSPhysObject Flying = _flying; PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); - PhysicsScene.PE.SetMargin(PhysShape, PhysicsScene.Params.collisionMargin); - PhysicsScene.PE.SetLocalScaling(PhysShape, Scale); + PhysicsScene.PE.SetMargin(PhysShape.physShapeInfo, PhysicsScene.Params.collisionMargin); + PhysicsScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); if (BSParam.CcdMotionThreshold > 0f) { @@ -205,9 +205,9 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { - if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) + if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape) { - PhysicsScene.PE.SetLocalScaling(PhysShape, Scale); + PhysicsScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); UpdatePhysicalMassProperties(RawMass, true); // Make sure this change appears as a property update event PhysicsScene.PE.PushUpdate(PhysBody); @@ -221,11 +221,6 @@ public sealed class BSCharacter : BSPhysObject { set { BaseShape = value; } } - // I want the physics engine to make an avatar capsule - public override BSPhysicsShapeType PreferredPhysicalShape - { - get {return BSPhysicsShapeType.SHAPE_CAPSULE; } - } public override bool Grabbed { set { _grabbed = value; } @@ -381,7 +376,7 @@ public sealed class BSCharacter : BSPhysObject } public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { - OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); + OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 612c68b..e2e807e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -625,7 +625,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Vehicles report collision events so we know when it's on the ground m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - ControllingPrim.Inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape, m_vehicleMass); + ControllingPrim.Inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); @@ -649,7 +649,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // BSActor.RemoveBodyDependencies - public override void RemoveBodyDependencies() + public override void RemoveDependencies() { Refresh(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 4ece1eb..df1dd34 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -93,13 +93,6 @@ public abstract class BSLinkset // to the physical representation is done via the tainting mechenism. protected object m_linksetActivityLock = new Object(); - // Some linksets have a preferred physical shape. - // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected. - public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor) - { - return BSPhysicsShapeType.SHAPE_UNKNOWN; - } - // We keep the prim's mass in the linkset structure since it could be dependent on other prims public float LinksetMass { get; protected set; } @@ -263,7 +256,7 @@ public abstract class BSLinkset // This is called when the root body is changing. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! - public abstract bool RemoveBodyDependencies(BSPrimLinkable child); + public abstract bool RemoveDependencies(BSPrimLinkable child); // ================================================================ protected virtual float ComputeLinksetMass() diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index e05562a..a20bbc3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -98,19 +98,6 @@ public sealed class BSLinksetCompound : BSLinkset { } - // For compound implimented linksets, if there are children, use compound shape for the root. - public override BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor) - { - // Returning 'unknown' means we don't have a preference. - BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - if (IsRoot(requestor) && HasAnyChildren) - { - ret = BSPhysicsShapeType.SHAPE_COMPOUND; - } - // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret); - return ret; - } - // When physical properties are changed the linkset needs to recalculate // its internal properties. public override void Refresh(BSPrimLinkable requestor) @@ -218,22 +205,22 @@ public sealed class BSLinksetCompound : BSLinkset // and that is caused by us updating the object. if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) { - // Find the physical instance of the child - if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) + // Find the physical instance of the child + if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo)) { // It is possible that the linkset is still under construction and the child is not yet // inserted into the compound shape. A rebuild of the linkset in a pre-step action will // build the whole thing with the new position or rotation. // The index must be checked because Bullet references the child array but does no validity // checking of the child index passed. - int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape); + int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo); if (updated.LinksetChildIndex < numLinksetChildren) { - BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, updated.LinksetChildIndex); + BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex); if (linksetChildShape.HasPhysicalShape) { // Found the child shape within the compound shape - PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, updated.LinksetChildIndex, + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex, updated.RawPosition - LinksetRoot.RawPosition, updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation), true /* shouldRecalculateLocalAabb */); @@ -278,7 +265,7 @@ public sealed class BSLinksetCompound : BSLinkset // Since we don't keep in world relationships, do nothing unless it's a child changing. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! - public override bool RemoveBodyDependencies(BSPrimLinkable child) + public override bool RemoveDependencies(BSPrimLinkable child) { bool ret = false; @@ -404,11 +391,12 @@ public sealed class BSLinksetCompound : BSLinkset { try { + /* // Suppress rebuilding while rebuilding. (We know rebuilding is on only one thread.) Rebuilding = true; // Cause the root shape to be rebuilt as a compound object with just the root in it - LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime */); + LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime ); // The center of mass for the linkset is the geometric center of the group. // Compute a displacement for each component so it is relative to the center-of-mass. @@ -430,10 +418,10 @@ public sealed class BSLinksetCompound : BSLinkset LinksetRoot.ForcePosition = LinksetRoot.RawPosition; // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM - PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0 /* childIndex */, + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, 0 /* childIndex , -centerDisplacement, OMV.Quaternion.Identity, // LinksetRoot.RawOrientation, - false /* shouldRecalculateLocalAabb (is done later after linkset built) */); + false /* shouldRecalculateLocalAabb (is done later after linkset built) ); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", LinksetRoot.LocalID, centerOfMassW, LinksetRoot.RawPosition, centerDisplacement); @@ -501,6 +489,7 @@ public sealed class BSLinksetCompound : BSLinkset // Enable the physical position updator to return the position and rotation of the root shape PhysicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); + */ } finally { @@ -508,7 +497,7 @@ public sealed class BSLinksetCompound : BSLinkset } // See that the Aabb surrounds the new shape - PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape); + PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); } } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 6d252ca..1811772 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -93,11 +93,11 @@ public sealed class BSLinksetConstraints : BSLinkset // up to rebuild the constraints before the next simulation step. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! - public override bool RemoveBodyDependencies(BSPrimLinkable child) + public override bool RemoveDependencies(BSPrimLinkable child) { bool ret = false; - DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", + DetailLog("{0},BSLinksetConstraint.RemoveDependencies,removeChildrenForRoot,rID={1},rBody={2}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString); lock (m_linksetActivityLock) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 309d004..b6eb619 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -88,7 +88,7 @@ public abstract class BSPhysObject : PhysicsActor // We don't have any physical representation yet. PhysBody = new BulletBody(localID); - PhysShape = new BulletShape(); + PhysShape = new BSShapeNull(); PrimAssetState = PrimAssetCondition.Unknown; @@ -138,7 +138,7 @@ public abstract class BSPhysObject : PhysicsActor // Reference to the physical body (btCollisionObject) of this object public BulletBody PhysBody; // Reference to the physical shape (btCollisionShape) of this object - public BulletShape PhysShape; + public BSShape PhysShape; // The physical representation of the prim might require an asset fetch. // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'. @@ -151,13 +151,6 @@ public abstract class BSPhysObject : PhysicsActor // The objects base shape information. Null if not a prim type shape. public PrimitiveBaseShape BaseShape { get; protected set; } - // Some types of objects have preferred physical representations. - // Returns SHAPE_UNKNOWN if there is no preference. - public virtual BSPhysicsShapeType PreferredPhysicalShape - { - get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } - } - // When the physical properties are updated, an EntityProperty holds the update values. // Keep the current and last EntityProperties to enable computation of differences // between the current update and the previous values. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4bc266b..5d12338 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -134,8 +134,8 @@ public class BSPrim : BSPhysObject // If there are physical body and shape, release my use of same. PhysicsScene.Shapes.DereferenceBody(PhysBody, null); PhysBody.Clear(); - PhysicsScene.Shapes.DereferenceShape(PhysShape, null); - PhysShape.Clear(); + PhysShape.Dereference(PhysicsScene); + PhysShape = new BSShapeNull(); }); } @@ -161,25 +161,13 @@ public class BSPrim : BSPhysObject ForceBodyShapeRebuild(false); } } - // 'unknown' says to choose the best type - public override BSPhysicsShapeType PreferredPhysicalShape - { get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } } - public override bool ForceBodyShapeRebuild(bool inTaintTime) { - if (inTaintTime) + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() { _mass = CalculateMass(); // changing the shape changes the mass CreateGeomAndObject(true); - } - else - { - PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", delegate() - { - _mass = CalculateMass(); // changing the shape changes the mass - CreateGeomAndObject(true); - }); - } + }); return true; } public override bool Grabbed { @@ -462,7 +450,7 @@ public class BSPrim : BSPhysObject Gravity = ComputeGravity(Buoyancy); PhysicsScene.PE.SetGravity(PhysBody, Gravity); - Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); + Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia); PhysicsScene.PE.UpdateInertiaTensor(PhysBody); @@ -805,7 +793,8 @@ public class BSPrim : BSPhysObject PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}", - LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape); + LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), + CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape); } // "Making dynamic" means changing to and from static. @@ -1463,12 +1452,13 @@ public class BSPrim : BSPhysObject // Create the correct physical representation for this type of object. // Updates base.PhysBody and base.PhysShape with the new information. // Ignore 'forceRebuild'. 'GetBodyAndShape' makes the right choices and changes of necessary. - PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody) + PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, delegate(BulletBody pBody, BulletShape pShape) { // Called if the current prim body is about to be destroyed. // Remove all the physical dependencies on the old body. // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) - RemoveBodyDependencies(); + // Note: this virtual function is overloaded by BSPrimLinkable to remove linkset constraints. + RemoveDependencies(); }); // Make sure the properties are set on the new object @@ -1477,9 +1467,9 @@ public class BSPrim : BSPhysObject } // Called at taint-time - protected virtual void RemoveBodyDependencies() + protected virtual void RemoveDependencies() { - PhysicalActors.RemoveBodyDependencies(); + PhysicalActors.RemoveDependencies(); } // The physics engine says that properties have updated. Update same and inform diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 28242d4..81104ec 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -61,9 +61,6 @@ public class BSPrimLinkable : BSPrimDisplaced base.Destroy(); } - public override BSPhysicsShapeType PreferredPhysicalShape - { get { return Linkset.PreferredPhysicalShape(this); } } - public override void link(Manager.PhysicsActor obj) { BSPrimLinkable parent = obj as BSPrimLinkable; @@ -149,10 +146,10 @@ public class BSPrimLinkable : BSPrimDisplaced } // Body is being taken apart. Remove physical dependencies and schedule a rebuild. - protected override void RemoveBodyDependencies() + protected override void RemoveDependencies() { - Linkset.RemoveBodyDependencies(this); - base.RemoveBodyDependencies(); + Linkset.RemoveDependencies(this); + base.RemoveDependencies(); } public override void UpdateProperties(EntityProperties entprop) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 0f9b3c3..3c23509 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -38,38 +38,15 @@ public sealed class BSShapeCollection : IDisposable { private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; - private BSScene PhysicsScene { get; set; } + private BSScene m_physicsScene { get; set; } private Object m_collectionActivityLock = new Object(); - // Description of a Mesh - private struct MeshDesc - { - public BulletShape shape; - public int referenceCount; - public DateTime lastReferenced; - public UInt64 shapeKey; - } - - // Description of a hull. - // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations. - private struct HullDesc - { - public BulletShape shape; - public int referenceCount; - public DateTime lastReferenced; - public UInt64 shapeKey; - } - - // The sharable set of meshes and hulls. Indexed by their shape hash. - private Dictionary Meshes = new Dictionary(); - private Dictionary Hulls = new Dictionary(); - private bool DDetail = false; public BSShapeCollection(BSScene physScene) { - PhysicsScene = physScene; + m_physicsScene = physScene; // Set the next to 'true' for very detailed shape update detailed logging (detailed details?) // While detailed debugging is still active, this is better than commenting out all the // DetailLog statements. When debugging slows down, this and the protected logging @@ -86,22 +63,18 @@ public sealed class BSShapeCollection : IDisposable // Mostly used for changing bodies out from under Linksets. // Useful for other cases where parameters need saving. // Passing 'null' says no callback. - public delegate void ShapeDestructionCallback(BulletShape shape); - public delegate void BodyDestructionCallback(BulletBody body); + public delegate void PhysicalDestructionCallback(BulletBody pBody, BulletShape pShape); // Called to update/change the body and shape for an object. - // First checks the shape and updates that if necessary then makes - // sure the body is of the right type. + // The object has some shape and body on it. Here we decide if that is the correct shape + // for the current state of the object (static/dynamic/...). + // If bodyCallback is not null, it is called if either the body or the shape are changed + // so dependencies (like constraints) can be removed before the physical object is dereferenced. // Return 'true' if either the body or the shape changed. - // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before - // the current shape or body is destroyed. This allows the caller to remove any - // higher level dependencies on the shape or body. Mostly used for LinkSets to - // remove the physical constraints before the body is destroyed. - // Called at taint-time!! - public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, - ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) + // Called at taint-time. + public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, PhysicalDestructionCallback bodyCallback) { - PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); + m_physicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); bool ret = false; @@ -111,12 +84,12 @@ public sealed class BSShapeCollection : IDisposable // Do we have the correct geometry for this type of object? // Updates prim.BSShape with information/pointers to shape. // Returns 'true' of BSShape is changed to a new shape. - bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback); + bool newGeom = CreateGeom(forceRebuild, prim, bodyCallback); // If we had to select a new shape geometry for the object, // rebuild the body around it. // Updates prim.BSBody with information/pointers to requested body // Returns 'true' if BSBody was changed. - bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, bodyCallback); + bool newBody = CreateBody((newGeom || forceRebuild), prim, m_physicsScene.World, bodyCallback); ret = newGeom || newBody; } DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}", @@ -127,271 +100,20 @@ public sealed class BSShapeCollection : IDisposable public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim) { - return GetBodyAndShape(forceRebuild, sim, prim, null, null); - } - - // Track another user of a body. - // We presume the caller has allocated the body. - // Bodies only have one user so the body is just put into the world if not already there. - private void ReferenceBody(BulletBody body) - { - lock (m_collectionActivityLock) - { - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); - if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body)) - { - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body); - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); - } - } - } - - // Release the usage of a body. - // Called when releasing use of a BSBody. BSShape is handled separately. - // Called in taint time. - public void DereferenceBody(BulletBody body, BodyDestructionCallback bodyCallback ) - { - if (!body.HasPhysicalBody) - return; - - PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody"); - - lock (m_collectionActivityLock) - { - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body); - // If the caller needs to know the old body is going away, pass the event up. - if (bodyCallback != null) bodyCallback(body); - - // Removing an object not in the world is a NOOP - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); - - // Zero any reference to the shape so it is not freed when the body is deleted. - PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null); - PhysicsScene.PE.DestroyObject(PhysicsScene.World, body); - } - } - - // Track the datastructures and use count for a shape. - // When creating a hull, this is called first to reference the mesh - // and then again to reference the hull. - // Meshes and hulls for the same shape have the same hash key. - // NOTE that native shapes are not added to the mesh list or removed. - // Returns 'true' if this is the initial reference to the shape. Otherwise reused. - public bool ReferenceShape(BulletShape shape) - { - bool ret = false; - switch (shape.type) - { - case BSPhysicsShapeType.SHAPE_MESH: - MeshDesc meshDesc; - if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) - { - // There is an existing instance of this mesh. - meshDesc.referenceCount++; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); - } - else - { - // This is a new reference to a mesh - meshDesc.shape = shape.Clone(); - meshDesc.shapeKey = shape.shapeKey; - // We keep a reference to the underlying IMesh data so a hull can be built - meshDesc.referenceCount = 1; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); - ret = true; - } - meshDesc.lastReferenced = System.DateTime.Now; - Meshes[shape.shapeKey] = meshDesc; - break; - case BSPhysicsShapeType.SHAPE_HULL: - HullDesc hullDesc; - if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) - { - // There is an existing instance of this hull. - hullDesc.referenceCount++; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); - } - else - { - // This is a new reference to a hull - hullDesc.shape = shape.Clone(); - hullDesc.shapeKey = shape.shapeKey; - hullDesc.referenceCount = 1; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); - ret = true; - - } - hullDesc.lastReferenced = System.DateTime.Now; - Hulls[shape.shapeKey] = hullDesc; - break; - case BSPhysicsShapeType.SHAPE_UNKNOWN: - break; - default: - // Native shapes are not tracked and they don't go into any list - break; - } - return ret; - } - - // Release the usage of a shape. - public void DereferenceShape(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - if (!shape.HasPhysicalShape) - return; - - PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceShape"); - - if (shape.HasPhysicalShape) - { - if (shape.isNativeShape) - { - // Native shapes are not tracked and are released immediately - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1}", - BSScene.DetailLogZero, shape.AddrString); - if (shapeCallback != null) shapeCallback(shape); - PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape); - } - else - { - switch (shape.type) - { - case BSPhysicsShapeType.SHAPE_HULL: - DereferenceHull(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_MESH: - DereferenceMesh(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_COMPOUND: - DereferenceCompound(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_UNKNOWN: - break; - default: - break; - } - } - } - } - - // Count down the reference count for a mesh shape - // Called at taint-time. - private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - MeshDesc meshDesc; - if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) - { - meshDesc.referenceCount--; - // TODO: release the Bullet storage - if (shapeCallback != null) shapeCallback(shape); - meshDesc.lastReferenced = System.DateTime.Now; - Meshes[shape.shapeKey] = meshDesc; - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}", - BSScene.DetailLogZero, shape, meshDesc.referenceCount); - - } + return GetBodyAndShape(forceRebuild, sim, prim, null); } - // Count down the reference count for a hull shape - // Called at taint-time. - private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback) + // If the existing prim's shape is to be replaced, remove the tie to the existing shape + // before replacing it. + private void DereferenceExistingShape(BSPhysObject prim, PhysicalDestructionCallback shapeCallback) { - HullDesc hullDesc; - if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) + if (prim.PhysShape.HasPhysicalShape) { - hullDesc.referenceCount--; - // TODO: release the Bullet storage (aging old entries?) - - // Tell upper layers that, if they have dependencies on this shape, this link is going away - if (shapeCallback != null) shapeCallback(shape); - - hullDesc.lastReferenced = System.DateTime.Now; - Hulls[shape.shapeKey] = hullDesc; - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}", - BSScene.DetailLogZero, shape, hullDesc.referenceCount); - } - } - - // Remove a reference to a compound shape. - // Taking a compound shape apart is a little tricky because if you just delete the - // physical shape, it will free all the underlying children. We can't do that because - // they could be shared. So, this removes each of the children from the compound and - // dereferences them separately before destroying the compound collision object itself. - // Called at taint-time. - private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - if (!PhysicsScene.PE.IsCompound(shape)) - { - // Failed the sanity check!! - PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", - LogHeader, shape.type, shape.AddrString); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", - BSScene.DetailLogZero, shape.type, shape.AddrString); - return; - } - - int numChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(shape); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren); - - for (int ii = numChildren - 1; ii >= 0; ii--) - { - BulletShape childShape = PhysicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(shape, ii); - DereferenceAnonCollisionShape(childShape); - } - PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape); - } - - // Sometimes we have a pointer to a collision shape but don't know what type it is. - // Figure out type and call the correct dereference routine. - // Called at taint-time. - private void DereferenceAnonCollisionShape(BulletShape shapeInfo) - { - MeshDesc meshDesc; - HullDesc hullDesc; - - if (TryGetMeshByPtr(shapeInfo, out meshDesc)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; - shapeInfo.shapeKey = meshDesc.shapeKey; - } - else - { - if (TryGetHullByPtr(shapeInfo, out hullDesc)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL; - shapeInfo.shapeKey = hullDesc.shapeKey; - } - else - { - if (PhysicsScene.PE.IsCompound(shapeInfo)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; - } - else - { - if (PhysicsScene.PE.IsNativeShape(shapeInfo)) - { - shapeInfo.isNativeShape = true; - shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) - } - } - } - } - - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); - - if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN) - { - DereferenceShape(shapeInfo, null); - } - else - { - PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}", - LogHeader, PhysicsScene.RegionName, shapeInfo.AddrString); + if (shapeCallback != null) + shapeCallback(prim.PhysBody, prim.PhysShape.physShapeInfo); + prim.PhysShape.Dereference(m_physicsScene); } + prim.PhysShape = new BSShapeNull(); } // Create the geometry information in Bullet for later use. @@ -402,40 +124,7 @@ public sealed class BSShapeCollection : IDisposable // Info in prim.BSShape is updated to the new shape. // Returns 'true' if the geometry was rebuilt. // Called at taint-time! - private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - bool ret = false; - bool haveShape = false; - - if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) - { - // an avatar capsule is close to a native shape (it is not shared) - GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); - ret = true; - haveShape = true; - } - - // Compound shapes are handled special as they are rebuilt from scratch. - // This isn't too great a hardship since most of the child shapes will have already been created. - if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) - { - ret = GetReferenceToCompoundShape(prim, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); - haveShape = true; - } - - if (!haveShape) - { - ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback); - } - - return ret; - } - - // Create a mesh, hull or native shape. - // Return 'true' if the prim's shape was changed. - public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) + private bool CreateGeom(bool forceRebuild, BSPhysObject prim, PhysicalDestructionCallback shapeCallback) { bool ret = false; bool haveShape = false; @@ -443,19 +132,21 @@ public sealed class BSShapeCollection : IDisposable PrimitiveBaseShape pbs = prim.BaseShape; // If the prim attributes are simple, this could be a simple Bullet native shape + // Native shapes work whether to object is static or physical. if (!haveShape && nativeShapePossible && pbs != null - && !pbs.SculptEntry - && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) || PrimHasNoCuts(pbs)) ) + && PrimHasNoCuts(pbs) + && ( !pbs.SculptEntry || (pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) ) + ) { // Get the scale of any existing shape so we can see if the new shape is same native type and same size. OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero; if (prim.PhysShape.HasPhysicalShape) - scaleOfExistingShape = PhysicsScene.PE.GetLocalScaling(prim.PhysShape); + scaleOfExistingShape = m_physicsScene.PE.GetLocalScaling(prim.PhysShape.physShapeInfo); if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}", - prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type); + prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.physShapeInfo.shapeType); // It doesn't look like Bullet scales native spheres so make sure the scales are all equal if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) @@ -463,26 +154,28 @@ public sealed class BSShapeCollection : IDisposable { haveShape = true; if (forceRebuild - || prim.Scale != scaleOfExistingShape - || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE - ) + || prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_SPHERE + ) { - ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE, - FixedShapeKey.KEY_SPHERE, shapeCallback); + DereferenceExistingShape(prim, shapeCallback); + prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim, + BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_SPHERE); } if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},rebuilt={2},shape={3}", prim.LocalID, forceRebuild, ret, prim.PhysShape); } + // If we didn't make a sphere, maybe a box will work. if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) { haveShape = true; if (forceRebuild || prim.Scale != scaleOfExistingShape - || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX + || prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_BOX ) { - ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX, - FixedShapeKey.KEY_BOX, shapeCallback); + DereferenceExistingShape(prim, shapeCallback); + prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim, + BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); } if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},rebuilt={2},shape={3}", prim.LocalID, forceRebuild, ret, prim.PhysShape); @@ -511,7 +204,7 @@ public sealed class BSShapeCollection : IDisposable } // return 'true' if the prim's shape was changed. - public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) + private bool CreateGeomMeshOrHull(BSPhysObject prim, PhysicalDestructionCallback shapeCallback) { bool ret = false; @@ -520,537 +213,70 @@ public sealed class BSShapeCollection : IDisposable if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects) { // Update prim.BSShape to reference a hull of this shape. - ret = GetReferenceToHull(prim, shapeCallback); + DereferenceExistingShape(prim, shapeCallback); + prim.PhysShape = BSShapeMesh.GetReference(m_physicsScene, false /*forceRebuild*/, prim); if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); + prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X")); } else { - ret = GetReferenceToMesh(prim, shapeCallback); + // Update prim.BSShape to reference a mesh of this shape. + DereferenceExistingShape(prim, shapeCallback); + prim.PhysShape = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim); if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); + prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X")); } return ret; } - // Creates a native shape and assignes it to prim.BSShape. - // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape(). - private bool GetReferenceToNativeShape(BSPhysObject prim, - BSPhysicsShapeType shapeType, FixedShapeKey shapeKey, - ShapeDestructionCallback shapeCallback) - { - // release any previous shape - DereferenceShape(prim.PhysShape, shapeCallback); - - BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); - - // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. - if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", - prim.LocalID, newShape, prim.Scale); - - // native shapes are scaled by Bullet - prim.PhysShape = newShape; - return true; - } - - private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType, - FixedShapeKey shapeKey) - { - BulletShape newShape; - // Need to make sure the passed shape information is for the native type. - ShapeData nativeShapeData = new ShapeData(); - nativeShapeData.Type = shapeType; - nativeShapeData.ID = prim.LocalID; - nativeShapeData.Scale = prim.Scale; - nativeShapeData.Size = prim.Scale; // unneeded, I think. - nativeShapeData.MeshKey = (ulong)shapeKey; - nativeShapeData.HullKey = (ulong)shapeKey; - - if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) - { - - newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale); - if (DDetail) DetailLog("{0},BSShapeCollection.BuildPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); - } - else - { - // Native shapes are scaled in Bullet so set the scaling to the size - newShape = PhysicsScene.PE.BuildNativeShape(PhysicsScene.World, nativeShapeData); - - } - if (!newShape.HasPhysicalShape) - { - PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", - LogHeader, prim.LocalID, shapeType); - } - newShape.shapeKey = (System.UInt64)shapeKey; - newShape.isNativeShape = true; - - return newShape; - } - - // Builds a mesh shape in the physical world and updates prim.BSShape. - // Dereferences previous shape in BSShape and adds a reference for this new shape. - // Returns 'true' of a mesh was actually built. Otherwise . - // Called at taint-time! - private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - BulletShape newShape = new BulletShape(); - - float lod; - System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - - // if this new shape is the same as last time, don't recreate the mesh - if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH) - return false; - - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2},size={3},lod={4}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod); - - // Since we're recreating new, get rid of the reference to the previous shape - DereferenceShape(prim.PhysShape, shapeCallback); - - newShape = CreatePhysicalMesh(prim, newMeshKey, prim.BaseShape, prim.Size, lod); - // Take evasive action if the mesh was not constructed. - newShape = VerifyMeshCreated(PhysicsScene, newShape, prim); - - ReferenceShape(newShape); - - prim.PhysShape = newShape; - - return true; // 'true' means a new shape has been added to this prim - } - - private BulletShape CreatePhysicalMesh(BSPhysObject prim, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + // Track another user of a body. + // We presume the caller has allocated the body. + // Bodies only have one user so the body is just put into the world if not already there. + private void ReferenceBody(BulletBody body) { - BulletShape newShape = new BulletShape(); - - MeshDesc meshDesc; - if (Meshes.TryGetValue(newMeshKey, out meshDesc)) - { - // If the mesh has already been built just use it. - newShape = meshDesc.shape.Clone(); - } - else + lock (m_collectionActivityLock) { - IMesh meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, - false, // say it is not physical so a bounding box is not built - false // do not cache the mesh and do not use previously built versions - ); - - if (meshData != null) + if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); + if (!m_physicsScene.PE.IsInWorld(m_physicsScene.World, body)) { - - int[] indices = meshData.getIndexListAsInt(); - int realIndicesIndex = indices.Length; - float[] verticesAsFloats = meshData.getVertexListAsFloat(); - - if (BSParam.ShouldRemoveZeroWidthTriangles) - { - // Remove degenerate triangles. These are triangles with two of the vertices - // are the same. This is complicated by the problem that vertices are not - // made unique in sculpties so we have to compare the values in the vertex. - realIndicesIndex = 0; - for (int tri = 0; tri < indices.Length; tri += 3) - { - // Compute displacements into vertex array for each vertex of the triangle - int v1 = indices[tri + 0] * 3; - int v2 = indices[tri + 1] * 3; - int v3 = indices[tri + 2] * 3; - // Check to see if any two of the vertices are the same - if (!( ( verticesAsFloats[v1 + 0] == verticesAsFloats[v2 + 0] - && verticesAsFloats[v1 + 1] == verticesAsFloats[v2 + 1] - && verticesAsFloats[v1 + 2] == verticesAsFloats[v2 + 2]) - || ( verticesAsFloats[v2 + 0] == verticesAsFloats[v3 + 0] - && verticesAsFloats[v2 + 1] == verticesAsFloats[v3 + 1] - && verticesAsFloats[v2 + 2] == verticesAsFloats[v3 + 2]) - || ( verticesAsFloats[v1 + 0] == verticesAsFloats[v3 + 0] - && verticesAsFloats[v1 + 1] == verticesAsFloats[v3 + 1] - && verticesAsFloats[v1 + 2] == verticesAsFloats[v3 + 2]) ) - ) - { - // None of the vertices of the triangles are the same. This is a good triangle; - indices[realIndicesIndex + 0] = indices[tri + 0]; - indices[realIndicesIndex + 1] = indices[tri + 1]; - indices[realIndicesIndex + 2] = indices[tri + 2]; - realIndicesIndex += 3; - } - } - } - DetailLog("{0},BSShapeCollection.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}", - BSScene.DetailLogZero, indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3); - - if (realIndicesIndex != 0) - { - newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, - realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats); - } - else - { - PhysicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}", - LogHeader, prim.PhysObjectName, prim.RawPosition, PhysicsScene.Name); - } + m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, body); + if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); } } - newShape.shapeKey = newMeshKey; - - return newShape; - } - - // See that hull shape exists in the physical world and update prim.BSShape. - // We could be creating the hull because scale changed or whatever. - // Return 'true' if a new hull was built. Otherwise, returning a shared hull instance. - private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - BulletShape newShape; - - float lod; - System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - - // if the hull hasn't changed, don't rebuild it - if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL) - return false; - - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X")); - - // Remove usage of the previous shape. - DereferenceShape(prim.PhysShape, shapeCallback); - - newShape = CreatePhysicalHull(prim, newHullKey, prim.BaseShape, prim.Size, lod); - // It might not have been created if we're waiting for an asset. - newShape = VerifyMeshCreated(PhysicsScene, newShape, prim); - - ReferenceShape(newShape); - - prim.PhysShape = newShape; - return true; // 'true' means a new shape has been added to this prim } - List m_hulls; - private BulletShape CreatePhysicalHull(BSPhysObject prim, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + // Release the usage of a body. + // Called when releasing use of a BSBody. BSShape is handled separately. + // Called in taint time. + public void DereferenceBody(BulletBody body, PhysicalDestructionCallback bodyCallback ) { + if (!body.HasPhysicalBody) + return; - BulletShape newShape = new BulletShape(); - IntPtr hullPtr = IntPtr.Zero; + m_physicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody"); - HullDesc hullDesc; - if (Hulls.TryGetValue(newHullKey, out hullDesc)) - { - // If the hull shape already has been created, just use the one shared instance. - newShape = hullDesc.shape.Clone(); - } - else + lock (m_collectionActivityLock) { - if (BSParam.ShouldUseBulletHACD) - { - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); - MeshDesc meshDesc; - if (!Meshes.TryGetValue(newHullKey, out meshDesc)) - { - // That's odd because the mesh should have been created before the hull - // but, since it doesn't exist, create it. - newShape = CreatePhysicalMesh(prim, newHullKey, prim.BaseShape, prim.Size, lod); - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,noMeshBuiltNew,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); - - if (newShape.HasPhysicalShape) - { - ReferenceShape(newShape); - Meshes.TryGetValue(newHullKey, out meshDesc); - } - } - if (meshDesc.shape.HasPhysicalShape) - { - HACDParams parms; - parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull; - parms.minClusters = BSParam.BHullMinClusters; - parms.compacityWeight = BSParam.BHullCompacityWeight; - parms.volumeWeight = BSParam.BHullVolumeWeight; - parms.concavity = BSParam.BHullConcavity; - parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints); - parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints); - parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints); - parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin); - - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); - newShape = PhysicsScene.PE.BuildHullShapeFromMesh(PhysicsScene.World, meshDesc.shape, parms); - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); - } - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); - } - if (!newShape.HasPhysicalShape) - { - // Build a new hull in the physical world. - // Pass true for physicalness as this prevents the creation of bounding box which is not needed - IMesh meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); - if (meshData != null) - { - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.getVertexList(); - - //format conversion from IMesh format to DecompDesc format - List convIndices = new List(); - List convVertices = new List(); - 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)); - } - - uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit; - if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes) - { - // Simple primitive shapes we know are convex so they are better implemented with - // fewer hulls. - // Check for simple shape (prim without cuts) and reduce split parameter if so. - if (PrimHasNoCuts(pbs)) - { - maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes; - } - } - - // setup and do convex hull conversion - m_hulls = new List(); - DecompDesc dcomp = new DecompDesc(); - dcomp.mIndices = convIndices; - dcomp.mVertices = convVertices; - dcomp.mDepth = maxDepthSplit; - dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent; - dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent; - dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices; - dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth; - ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); - // create the hull into the _hulls variable - convexBuilder.process(dcomp); - - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}", - BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count); - - // 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 = m_hulls.Count; - int totalVertices = 1; // include one for the count of the hulls - foreach (ConvexResult cr in m_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 m_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 data structure in Bullet - newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls); - } - } - newShape.shapeKey = newHullKey; - } - - return newShape; - } - - // Callback from convex hull creater with a newly created hull. - // Just add it to our collection of hulls for this shape. - private void HullReturn(ConvexResult result) - { - m_hulls.Add(result); - return; - } - - // Compound shapes are always built from scratch. - // This shouldn't be to bad since most of the parts will be meshes that had been built previously. - private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - // Remove reference to the old shape - // Don't need to do this as the shape is freed when the new root shape is created below. - // DereferenceShape(prim.PhysShape, true, shapeCallback); - - BulletShape cShape = PhysicsScene.PE.CreateCompoundShape(PhysicsScene.World, false); - - // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. - CreateGeomMeshOrHull(prim, shapeCallback); - PhysicsScene.PE.AddChildShapeToCompoundShape(cShape, prim.PhysShape, OMV.Vector3.Zero, OMV.Quaternion.Identity); - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}", - prim.LocalID, cShape, prim.PhysShape); - - prim.PhysShape = cShape; - - return true; - } - - // Create a hash of all the shape parameters to be used as a key - // for this particular shape. - public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) - { - // level of detail based on size and type of the object - float lod = BSParam.MeshLOD; - - // prims with curvy internal cuts need higher lod - if (pbs.HollowShape == HollowShape.Circle) - lod = BSParam.MeshCircularLOD; - - if (pbs.SculptEntry) - lod = BSParam.SculptLOD; - - // Mega prims usually get more detail because one can interact with shape approximations at this size. - float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z)); - if (maxAxis > BSParam.MeshMegaPrimThreshold) - lod = BSParam.MeshMegaPrimLOD; - - retLod = lod; - return pbs.GetMeshKey(size, lod); - } - // For those who don't want the LOD - public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs) - { - float lod; - return ComputeShapeKey(size, pbs, out lod); - } - - // The creation of a mesh or hull can fail if an underlying asset is not available. - // There are two cases: 1) the asset is not in the cache and it needs to be fetched; - // and 2) the asset cannot be converted (like failed decompression of JPEG2000s). - // The first case causes the asset to be fetched. The second case requires - // us to not loop forever. - // Called after creating a physical mesh or hull. If the physical shape was created, - // just return. - public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim) - { - // If the shape was successfully created, nothing more to do - if (newShape.HasPhysicalShape) - return newShape; + if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body); + // If the caller needs to know the old body is going away, pass the event up. + if (bodyCallback != null) + bodyCallback(body, null); - // VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been - // fetched but we end up here again, the meshing of the asset must have failed. - // Prevent trying to keep fetching the mesh by declaring failure. - if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) - { - prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}", - LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); - } - else - { - // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset - if (prim.BaseShape.SculptEntry - && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed - && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting - && prim.BaseShape.SculptTexture != OMV.UUID.Zero - ) - { - physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID); - // Multiple requestors will know we're waiting for this asset - prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting; + // Removing an object not in the world is a NOOP + m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, body); - BSPhysObject xprim = prim; - Util.FireAndForget(delegate - { - RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod; - if (assetProvider != null) - { - BSPhysObject yprim = xprim; // probably not necessary, but, just in case. - assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) - { - bool assetFound = false; - string mismatchIDs = String.Empty; // DEBUG DEBUG - if (asset != null && yprim.BaseShape.SculptEntry) - { - if (yprim.BaseShape.SculptTexture.ToString() == asset.ID) - { - yprim.BaseShape.SculptData = asset.Data; - // This will cause the prim to see that the filler shape is not the right - // one and try again to build the object. - // No race condition with the normal shape setting since the rebuild is at taint time. - yprim.ForceBodyShapeRebuild(false /* inTaintTime */); - assetFound = true; - } - else - { - mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID; - } - } - if (assetFound) - yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; - else - yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - physicsScene.DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}", - yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); + // Zero any reference to the shape so it is not freed when the body is deleted. + m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, body, null); - }); - } - else - { - xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", - LogHeader, physicsScene.Name); - } - }); - } - else - { - if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) - { - physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}", - LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); - } - } + m_physicsScene.PE.DestroyObject(m_physicsScene.World, body); } - - // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object. - BulletShape fillinShape = physicsScene.Shapes.BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); - physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID); - - return fillinShape; } // Create a body object in Bullet. // Updates prim.BSBody with the information about the new body if one is created. // Returns 'true' if an object was actually created. // Called at taint-time. - private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BodyDestructionCallback bodyCallback) + private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, PhysicalDestructionCallback bodyCallback) { bool ret = false; @@ -1061,7 +287,7 @@ public sealed class BSShapeCollection : IDisposable // If not a solid object, body is a GhostObject. Otherwise a RigidBody. if (!mustRebuild) { - CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(prim.PhysBody); + CollisionObjectTypes bodyType = (CollisionObjectTypes)m_physicsScene.PE.GetBodyType(prim.PhysBody); if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) { @@ -1079,12 +305,12 @@ public sealed class BSShapeCollection : IDisposable BulletBody aBody; if (prim.IsSolid) { - aBody = PhysicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation); + aBody = m_physicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape.physShapeInfo, prim.LocalID, prim.RawPosition, prim.RawOrientation); if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody); } else { - aBody = PhysicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation); + aBody = m_physicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape.physShapeInfo, prim.LocalID, prim.RawPosition, prim.RawOrientation); if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody); } @@ -1098,46 +324,10 @@ public sealed class BSShapeCollection : IDisposable return ret; } - private bool TryGetMeshByPtr(BulletShape shape, out MeshDesc outDesc) - { - bool ret = false; - MeshDesc foundDesc = new MeshDesc(); - foreach (MeshDesc md in Meshes.Values) - { - if (md.shape.ReferenceSame(shape)) - { - foundDesc = md; - ret = true; - break; - } - - } - outDesc = foundDesc; - return ret; - } - - private bool TryGetHullByPtr(BulletShape shape, out HullDesc outDesc) - { - bool ret = false; - HullDesc foundDesc = new HullDesc(); - foreach (HullDesc hd in Hulls.Values) - { - if (hd.shape.ReferenceSame(shape)) - { - foundDesc = hd; - ret = true; - break; - } - - } - outDesc = foundDesc; - return ret; - } - private void DetailLog(string msg, params Object[] args) { - if (PhysicsScene.PhysicsLogging.Enabled) - PhysicsScene.DetailLog(msg, args); + if (m_physicsScene.PhysicsLogging.Enabled) + m_physicsScene.DetailLog(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index e427dbc..a7b3f02 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -39,6 +39,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public abstract class BSShape { + private static string LogHeader = "[BULLETSIM SHAPE]"; + public int referenceCount { get; set; } public DateTime lastReferenced { get; set; } public BulletShape physShapeInfo { get; set; } @@ -56,49 +58,6 @@ public abstract class BSShape physShapeInfo = pShape; } - // Get a reference to a physical shape. Create if it doesn't exist - public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) - { - BSShape ret = null; - - if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) - { - // an avatar capsule is close to a native shape (it is not shared) - ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE, - FixedShapeKey.KEY_CAPSULE); - physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret); - } - - // Compound shapes are handled special as they are rebuilt from scratch. - // This isn't too great a hardship since most of the child shapes will have already been created. - if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) - { - // Getting a reference to a compound shape gets you the compound shape with the root prim shape added - ret = BSShapeCompound.GetReference(physicsScene, prim); - physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); - } - - // Avatars have their own unique shape - if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_AVATAR) - { - // Getting a reference to a compound shape gets you the compound shape with the root prim shape added - ret = BSShapeAvatar.GetReference(prim); - physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,avatarShape,shape={1}", prim.LocalID, ret); - } - - if (ret == null) - ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim); - - return ret; - } - private static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) - { - // TODO: work needed here!! - BSShapeMesh.GetReference(physicsScene, forceRebuild, prim); - BSShapeHull.GetReference(physicsScene, forceRebuild, prim); - return null; - } - // Called when this shape is being used again. public virtual void IncrementReference() { @@ -116,6 +75,27 @@ public abstract class BSShape // Release the use of a physical shape. public abstract void Dereference(BSScene physicsScene); + // Return 'true' if there is an allocated physics physical shape under this class instance. + public virtual bool HasPhysicalShape + { + get + { + if (physShapeInfo != null) + return physShapeInfo.HasPhysicalShape; + return false; + } + } + public virtual BSPhysicsShapeType ShapeType + { + get + { + BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; + if (physShapeInfo != null && physShapeInfo.HasPhysicalShape) + ret = physShapeInfo.shapeType; + return ret; + } + } + // Returns a string for debugging that uniquily identifies the memory used by this instance public virtual string AddrString { @@ -132,6 +112,119 @@ public abstract class BSShape buff.Append(">"); return buff.ToString(); } + + // Create a hash of all the shape parameters to be used as a key for this particular shape. + public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) + { + // level of detail based on size and type of the object + float lod = BSParam.MeshLOD; + if (pbs.SculptEntry) + lod = BSParam.SculptLOD; + + // Mega prims usually get more detail because one can interact with shape approximations at this size. + float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z)); + if (maxAxis > BSParam.MeshMegaPrimThreshold) + lod = BSParam.MeshMegaPrimLOD; + + retLod = lod; + return pbs.GetMeshKey(size, lod); + } + + // The creation of a mesh or hull can fail if an underlying asset is not available. + // There are two cases: 1) the asset is not in the cache and it needs to be fetched; + // and 2) the asset cannot be converted (like failed decompression of JPEG2000s). + // The first case causes the asset to be fetched. The second case requires + // us to not loop forever. + // Called after creating a physical mesh or hull. If the physical shape was created, + // just return. + public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim) + { + // If the shape was successfully created, nothing more to do + if (newShape.HasPhysicalShape) + return newShape; + + // VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been + // fetched but we end up here again, the meshing of the asset must have failed. + // Prevent trying to keep fetching the mesh by declaring failure. + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) + { + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; + physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}", + LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); + } + else + { + // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset + if (prim.BaseShape.SculptEntry + && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed + && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting + && prim.BaseShape.SculptTexture != OMV.UUID.Zero + ) + { + physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID); + // Multiple requestors will know we're waiting for this asset + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting; + + BSPhysObject xprim = prim; + Util.FireAndForget(delegate + { + RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod; + if (assetProvider != null) + { + BSPhysObject yprim = xprim; // probably not necessary, but, just in case. + assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) + { + bool assetFound = false; + string mismatchIDs = String.Empty; // DEBUG DEBUG + if (asset != null && yprim.BaseShape.SculptEntry) + { + if (yprim.BaseShape.SculptTexture.ToString() == asset.ID) + { + yprim.BaseShape.SculptData = asset.Data; + // This will cause the prim to see that the filler shape is not the right + // one and try again to build the object. + // No race condition with the normal shape setting since the rebuild is at taint time. + yprim.ForceBodyShapeRebuild(false /* inTaintTime */); + assetFound = true; + } + else + { + mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID; + } + } + if (assetFound) + yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; + else + yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; + physicsScene.DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}", + yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); + }); + } + else + { + xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; + physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", + LogHeader, physicsScene.Name); + } + }); + } + else + { + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) + { + physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}", + LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); + } + } + } + + // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object. + BSShape fillShape = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); + physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID); + + return fillShape.physShapeInfo; + } + } // ============================================================================================================ @@ -199,7 +292,7 @@ public class BSShapeNative : BSShape physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", LogHeader, prim.LocalID, shapeType); } - newShape.type = shapeType; + newShape.shapeType = shapeType; newShape.isNativeShape = true; newShape.shapeKey = (UInt64)shapeKey; return newShape; @@ -219,10 +312,11 @@ public class BSShapeMesh : BSShape public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { float lod; - System.UInt64 newMeshKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); physicsScene.DetailLog("{0},BSShapeMesh,getReference,oldKey={1},newKey={2},size={3},lod={4}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod); + prim.LocalID, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"), + newMeshKey.ToString("X"), prim.Size, lod); BSShapeMesh retMesh = new BSShapeMesh(new BulletShape()); lock (Meshes) @@ -238,8 +332,8 @@ public class BSShapeMesh : BSShape BulletShape newShape = retMesh.CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); // Check to see if mesh was created (might require an asset). - newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); - if (newShape.type == BSPhysicsShapeType.SHAPE_MESH) + newShape = VerifyMeshCreated(physicsScene, newShape, prim); + if (newShape.shapeType == BSPhysicsShapeType.SHAPE_MESH) { // If a mesh was what was created, remember the built shape for later sharing. Meshes.Add(newMeshKey, retMesh); @@ -360,10 +454,10 @@ public class BSShapeHull : BSShape public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { float lod; - System.UInt64 newHullKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); physicsScene.DetailLog("{0},BSShapeHull,getReference,oldKey={1},newKey={2},size={3},lod={4}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"), prim.Size, lod); + prim.LocalID, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"), newHullKey.ToString("X"), prim.Size, lod); BSShapeHull retHull = new BSShapeHull(new BulletShape()); lock (Hulls) @@ -379,8 +473,8 @@ public class BSShapeHull : BSShape BulletShape newShape = retHull.CreatePhysicalHull(physicsScene, prim, newHullKey, prim.BaseShape, prim.Size, lod); // Check to see if mesh was created (might require an asset). - newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); - if (newShape.type == BSPhysicsShapeType.SHAPE_MESH) + newShape = VerifyMeshCreated(physicsScene, newShape, prim); + if (newShape.shapeType == BSPhysicsShapeType.SHAPE_MESH) { // If a mesh was what was created, remember the built shape for later sharing. Hulls.Add(newHullKey, retHull); @@ -569,7 +663,6 @@ public class BSShapeHull : BSShape } } - // ============================================================================================================ public class BSShapeCompound : BSShape { @@ -589,9 +682,9 @@ public class BSShapeCompound : BSShape { // Failed the sanity check!! physicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", - LogHeader, physShapeInfo.type, physShapeInfo.AddrString); + LogHeader, physShapeInfo.shapeType, physShapeInfo.AddrString); physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", - BSScene.DetailLogZero, physShapeInfo.type, physShapeInfo.AddrString); + BSScene.DetailLogZero, physShapeInfo.shapeType, physShapeInfo.AddrString); return; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 8012d91..906e4f9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -104,11 +104,11 @@ public class BulletShape { public BulletShape() { - type = BSPhysicsShapeType.SHAPE_UNKNOWN; + shapeType = BSPhysicsShapeType.SHAPE_UNKNOWN; shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; isNativeShape = false; } - public BSPhysicsShapeType type; + public BSPhysicsShapeType shapeType; public System.UInt64 shapeKey; public bool isNativeShape; @@ -133,7 +133,7 @@ public class BulletShape buff.Append("